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
2014-01-01
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
