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A Cartesian Cable-Suspended Robot for Aiding Mobility

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Computational Kinematics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 15))

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Abstract

In this chapter we propose the analysis and simulation of a cable system developed to be used in large-scale handling for applications in urban, civil and naval environments. For the proposed system, which belongs to the Cartesian Cable-Suspended Robots (CCSR), the main issue is that it can provide translational motion of the end-effector being suspended, thus it may be considered well suited for a number of applications including the proposed one. In this chapter we focus our attention on a spatial version of the cable system designed to improve the mobility of end-users in urban environment. Kinetostatics and dynamic simulation are proposed and discussed.

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Author information

Authors and Affiliations

  1. Department of Civil and Mechanical Engineering, University of Cassino and Southern Lazio, Cassino, Italy

    Gianni Castelli & Erika Ottaviano

Authors
  1. Gianni Castelli
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  2. Erika Ottaviano
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Corresponding author

Correspondence to Erika Ottaviano .

Editor information

Editors and Affiliations

  1. Llorens Artigas, Inst Robótica e Informática Industrial, Barcelona, Spain

    Federico Thomas

  2. Mechanical Engineering, Idaho State University, Pocatello, Idaho, USA

    Alba Perez Gracia

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Castelli, G., Ottaviano, E. (2014). A Cartesian Cable-Suspended Robot for Aiding Mobility. In: Thomas, F., Perez Gracia, A. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 15. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7214-4_41

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  • DOI: https://doi.org/10.1007/978-94-007-7214-4_41

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-7213-7

  • Online ISBN: 978-94-007-7214-4

  • eBook Packages: EngineeringEngineering (R0)

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