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.

A Cartesian Cable-Suspended Robot for Aiding Mobility

CASTELLI, Gianni;OTTAVIANO, Erika
2014

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.
978-94-007-7213-7
978-94-007-7213-7
978-94-007-7214-4
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11580/59730
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