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• Introduction.- Classification and Architecture.- Geometric and Static Foundations.- Kinematic Codes.- Workspace.- Dynamics.- Kinematics with Nonstandard Cable Models.- Design.- Practice.
• (source: Nielsen Book Data)

Cable-driven parallel robots are a new kind of lightweight manipulators with excellent scalability in terms of size, payload, and dynamics capacities. For the first time, a comprehensive compendium is presented of the field of cable-driven parallel robots. A thorough theory of cable robots is setup leading the reader from first principles to the latest results in research. The main topics covered in the book are classification, terminology, and fields of application for cable-driven parallel robots. The geometric foundation of the standard cable model is introduced followed by statics, force distribution, and stiffness. Inverse and forward kinematics are addressed by elaborating efficient algorithms. Furthermore, the workspace is introduced and different algorithms are detailed. The book contains the dynamic equations as well as simulation models with applicable parameters. Advanced cable models are described taking into account pulleys, elastic cables, and sagging cables. For practitioner, a descriptive design method is stated including methodology, parameter synthesis, construction design, component selection, and calibration. Rich examples are presented by means of simulation results from sample robots as well as experimental validation on reference demonstrators. The book contains a representative overview of reference demonstrator system. Tables with physical parameters for geometry, cable properties, and robot parameterizations support case studies and are valuable references for building custom cable robots. For scientist, the book provides the starting point to address new scientific challenges as open problems are named and a commented review of the literature on cable robot with more than 500 references are given.
(source: Nielsen Book Data)

• From the content:The forward kinematics of cable-driven parallel robots with sagging cables.- An Elastic Cable Model for Cable-Driven Parallel Robots Including Hysteresis Effects.- On the Improvement of Cable Collision Detection Algorithms.- Experimental determination of the accuracy of a three-dof cable-suspended parallel robot performing dynamic trajectories.
• (source: Nielsen Book Data)

This volume presents the outcome of the second forum to cable-driven parallel robots, bringing the cable robot community together. It shows the new ideas of the active researchers developing cable-driven robots. The book presents the state of the art, including both summarizing contributions as well as latest research and future options. The book cover all topics which are essential for cable-driven robots: Classification Kinematics, Workspace and Singularity Analysis Statics and Dynamics Cable Modeling Control and Calibration Design Methodology Hardware Development Experimental Evaluation Prototypes, Application Reports and new Application concepts.
(source: Nielsen Book Data)

This volume gathers the latest advances, innovations and applications in the field of cable robots, as presented by leading international researchers and engineers at the 6th International Conference on Cable-Driven Parallel Robots (CableCon), held in Nantes, France on June 25-28, 2023. It covers the theory and applications of cable-driven parallel robots, including their classification, kinematics and singularity analysis, workspace, statics and dynamics, cable modeling and technologies, control and calibration, design methodologies, hardware development, experimental evaluation and prototypes, as well as application reports and new application concepts. The contributions, which were selected through a rigorous international peer-review process, share exciting ideas that will spur novel research directions and foster new multidisciplinary collaborations.

• Part I. Kinematics
• Efficient Kinematics of a 2-1 and 3-1 CDPR with Non-elastic Sagging Cables -- Kinematics of a 2-DOF Planar Suspended Cable-Driven Parallel Robot -- A New Performance Index for Underactuated Cable-Driven Parallel Robots -- CDPR Forward Kinematics with Error Covariance Bounds for Unconstrained End-Effector Attitude Parameterizations -- Neural Network-Based Inverse Kineto-Static Analysis of Cable-Driven Parallel Robot Considering Cable Mass and Elasticity -- Unsupervised Neural Network Based Forward Kinematics for Cable-Driven Parallel Robots with Elastic Cables -- Part II. Statics and Force Distribution -- Maximal Cable Tensions of a N-1 Cable-Driven Parallel Robot with Elastic or Ideal Cables -- Wrench Analysis of Kinematically Redundant Planar CDPRs -- Nonlinear Observer-Based Tension Distribution for Cable-Driven Parallel Robots -- A Practical Force Correction Method for Over-Constrained Cable-Driven Parallel Robots -- Force-Distribution Sensitivity to Cable-Tension Errors: A Preliminary Investigation -- Part III. Design -- Configuration Optimization of an Auto-Reconfigurable Cable-Driven Upper-Limb Rehabilitation Robot -- Design of a Docking System for Cable-Driven Parallel Robot to Allow Workspace Reconfiguration in Cluttered Environments --Multi Objective Optimization of a Cable-Driven Robot with Parallelogram Links -- Workspace Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots -- Heuristic-Based Design Framework for the Cable Arrangement of Cable-Driven Parallel Robots -- Variable-Structure Cable-Driven Parallel Robots -- Part IV. Control -- An Emergency Strategy for Cable Failure in Reconfigurable Cable Robots -- Velocity Based Hybrid Position-Force Control of Cable Robots and Experimental Workspace Analysis -- Constrained Optimal Control of Cable-Driven Parallel Robots Based on SDRE -- Model-Based Control of a Planar 3-DoF Cable Robot Using Exact Linearization -- Motor Current Based Force Control of Simple Cable-Driven Parallel Robots -- Control Stability Workspace for a Cable-Driven Parallel Robot Controlled by Visual Servoing -- A Simple and Efficient Non-model Based Cable Tension Control -- Modeling and Observer-Based Control of a Planar Two-Cable Crane Manipulator -- Part V. Calibration and Performance Improvement -- Path Following Demonstration of a Hybrid Cable-Driven Parallel Robot -- Development of an Active End Effector for Cable Robot Calibration -- Accuracy Improvement for CDPRs Based on Direct Cable Length Measurement Sensors -- Development of Safety Concepts for Cable-Driven Parallel Robots -- Part VI. Applications -- Evaluation of a Cable-Driven Parallel Robot: Accuracy, Repeatability and Long-Term Running -- Under Constrained Cable-Driven Parallel Robot for Vertical Green Maintenance -- Real-World Development of a Cleaning CDPR for Primary Lamella Sedimentation Tanks -- Cable-Driven Robot to Simulate the Buoyancy Force for Improvingthe Performance of Underwater Robots.

This volume gathers the latest advances, innovations and applications in the field of cable robots, as presented by leading international researchers and engineers at the 5th International Conference on Cable-Driven Parallel Robots (CableCon 2021), held as virtual event on July 7-9, 2021. It covers the theory and applications of cable-driven parallel robots, including their classification, kinematics and singularity analysis, workspace, statics and dynamics, cable modeling and technologies, control and calibration, design methodologies, hardware development, experimental evaluation and prototypes, as well as application reports and new application concepts. The contributions, which were selected through a rigorous international peer-review process, share exciting ideas that will spur novel research directions and foster new multidisciplinary collaborations.
(source: Nielsen Book Data)

• Part 1. Motion Planning
• Global Planning of Dynamically Feasible Trajectories for Three-DOF Spatial Cable-Suspended Parallel Robots / Clément Gosselin
• Experimental Validation of a Trajectory Planning Approach Avoiding Cable Slackness and Excessive Tension in Underconstrained Translational Planar Cable-Driven Robots / Alberto Trevisani
• Time-Energy Optimal Trajectory Planning of Cable-Suspended Manipulators / Mahdi Bamdad
• Navigating the Wrench-Feasible C-Space of Cable-Driven Hexapods / Oriol Bohigas, Montserrat Manubens and Lluís Ros.

• Part 2. Force Distribution
• A Tension Distribution Method with Improved Computational Efficiency / Johann Lamaury and Marc Gouttefarde
• Optimal Force Distribution Based on Slack Rope Model in the Incompletely Constrained Cable-Driven Parallel Mechanism of FAST Telescope / Hui Li, Xinyu Zhang, Rui Yao, Jinghai Sun and Gaofeng Pan, et al.
• Investigation of the Influence of Elastic Cables on the Force Distribution of a Parallel Cable-Driven Robot / Werner Kraus, Philipp Miermeister and Andreas Pott.

• Part 3. Application and Protoypes
• IPAnema: A family of Cable-Driven Parallel Robots for Industrial Applications / Andreas Pott, Hendrick Mütherich, Werner Kraus, Valentine Schmidt and Philipp Miermeister, et al.
• A Reconfigurable Robot for Cable-Driven Parallel Robotic Research and Industrial Scenario Proofing / Jean-Baptiste Izard, Marc Gouttefarde, Micaël Michelin, Olivier Tempier and Cedric Baradat
• Integration of a Parallel Cable-Driven Robot on an Existing Building Façade / Jean-Baptiste Izard, Marc Gouttefarde, Cedric Baradat, David Culla and Damien Sallé.

• Part 4. Design and Components
• Use of Passively Guided Deflection Units and Energy-Storing Elements to Increase the Application Range of Wire Robots / Joachim von Zitzewitz, Lisa Fehlberg, Tobias Bruckmann and Heike Vallery
• Use of High Strength Fibre Ropes in Multi-Rope Kinematic Robot Systems / Jens C. Weis, Björn Ernst and Karl -Heinz Wehking
• Workspace Improvement of Two-Link Cable-Driven Mechanisms with Spring Cable / Amir Taghavi, Saeed Behzadipour, Navid Khalilinasab and Hassen Zohoor
• The Constant-Orientation Dimensional Synthesis of Planar Cable-Driven Parallel Mechanisms Through Convex Relaxations / Kaveh Azizian and Philippe Cardou.

• Part 5. Kinematics and Interval Methods
• Feasible Kinematic Sensitivity in Cable Robots Based on Interval Analysis / Seyed Ahmad Khalilpour, Azadeh Zarif Loloei, Hamid D. Taghirad and Mehdi Tale Masouleh
• Solving the Direct Geometrico-Static Problem of 3-3 Cable-Driven Parallel Robots by Interval Analysis: Preliminary Results / Alessandro Berti, Jean-Pierre Merlet and Marco Carricato
• Direct Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots with 4 Cables / Marco Carricato and Ghasem Abbasnejad
• Implementing Extended Kinematics of a Cable-Driven Parallel Robot in Real-Time / Valentin Schmidt and Andreas Pott.

• Part 6. Calibration und Identification
• An Identification Methodology for 6-DoF Cable-Driven Parallel Robots Parameters Application to the INCA 6D Robot / Ryad Chellal, Edouard Laroche, Loïc Cuvillon and Jacques Gangloff
• Differential Kinematics for Calibration, System Investigation, and Force Based Forward Kinematics of Cable-Driven Parallel Robots / Philipp Miermeister, Werner Kraus and Andreas Pott.

• Part 8. Dynamics Modelling
• Geometric Stiffness Analysis of Wire Robots: A Mechanical Approach / Dragoljub Surdilovic, Jelena Radojicic and Jörg Krüger
• Stiffness Analysis of a Planar 2-DoF Cable-Suspended Mechanism While Considering Cable Mass / Marc Arsenault
• A Modeling Method of the Cable Driven Parallel Manipulator for FAST / Rui Yao, Hui Li and Xinyu Zhang
• Cable Vibration Analysis for Large Workspace Cable-Driven Parallel Manipulators / Jingli Du, Wen Ding and Hong Bao.

• Part 8. Control
• Experimental Performance of Robust PID Controller on a Planar Cable Robot / Mohammad A. Khosravi and Hamid D. Taghirad
• A Preliminary Study for H Control of Parallel Cable-Driven Manipulators / Edouard Laroche, Ryad Chellal, Loïc Cuvillon and Jacques Gangloff
• Trajectory Tracking for a Three-Cable Suspension Manipulator by Nonlinear Feedforward and Linear Feedback Control / Christoph Woernle.

This publication presents the outcome of the "First International Conference on Cable-Driven Parallel Robots" in 2012. This is the first conference to bring together the cable robot community and dedicate a forum for the international experts of this field. It contains the Know-how, ideas and experiences of active researchers developing cable-driven robots. The book presents the state of the art, including summarizing contributions and latest research results and, where relevant, the future outlook. The book covers the essential topics for cable-driven robots: classification and definition, kinematics, workspace analysis, cable modeling, control and calibration, design methodology, hardware/prototype development, experimental evaluation, application reports and new application concepts

• Seemacht und Marinedoktrin / Dieter S. Lutz
• Die US-Navy zwischen Anspruch und Möglichkeit / Andreas Pott
• Die sowjetische Marine, ein Instrument globaler Machtpolitik? / Andreas Pott, Dieter S. Lutz
• Maritime Rüstungssteuerung als Sonderfall der kooperativen Rüstungssteuerung / Andreas Pott
• Rüstungsdynamik und Rüstungssteuerung im historischen Vergleich / Erwin Müller.

• Einleitung
• Die 'Pathways to Success'-Studie
• Begrifflichkeiten
• Die erfolgreiche zweite Generation in der Forschung
• Der Einfluss von lokalen und sozialen Kontexten
• Die Studie
• Feldforschung und Material
• Die Problematik des Begriffs 'Erfolg'
• Die Interviews
• Kindheit, Jugend und Familie
• Kindheitsorte
• Das Verhältnis zu den Eltern
• Kontakte und Freundschaften zu 'Deutschen'
• Sport
• Schule
• Kindergarten und Grundschule : der Einstieg ins Bildungssystem
• Schulempfehlung und Übergang in die weiterführende Schule
• Die weiterführende Schule
• Diskriminierung
• Studium und andere Wege
• Lehramt
• Jura
• Wirtschaft
• Verwaltung
• Das Studium als biographische und soziale Erfahrung
• Übergang in den Beruf
• Juristische Berufe
• Lehramt
• Unternehmen und Selbstständigkeit
• Öffentliche Verwaltung
• Etablieren im Beruf
• Aufstiegsbedingte Herausforderungen
• Die Rolle des türkischen Hintergrunds
• Diskriminierungserfahrungen
• Eine neue deutsche Mittelschicht
• Zugehörigkeiten
• Grenzüberschreitungen
• Habitus und Identität
• Fallbeispiel 1 : Distanzierung von der Herkunft
• Fallbeispiel 2 : Betonung der 'ethnischen Unterschiede'
• Fallbeispiel 3 : Sowohl-als-auch oder Weder-noch?
• Türkisch? Deutsch?
• Schlussfolgerungen
• Unwahrscheinlich erfolgreich
• Die Bedeutung des Kontextes und regionaler Unterschiede
• Veränderung der (Stadt-)Gesellschaft
• Akteure des Wandels : Wer ist fit für die Migrationsgesellschaft?
• Literatur
• Danksagung
• Die AutorInnen.