Contour-crafting-cartesian-cable robot system concepts: Workspace and stiffness comparisons

Proceedings of the ASME Design Engineering Technical Conference

Volumn 2, Issue PARTS A AND B, 2008, Pages 31-38

  Williams II, Robert L ^a   Xin, Ming ^a   Bosscher, Paul ^b  

^a US Institute of Navigation   (United States)

^b Harris Corporation ^*  (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CABLE SUSPENDED ROBOT; CARTESIAN MOTION; ROBOT SYSTEM;

CABLES; ROBOTS; STIFFNESS; STRUCTURAL DESIGN;

MACHINE DESIGN;

EID: 81155151428     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/DETC2008-49478     Document Type: Conference Paper

References (7)

1. Khoshnevis, B., 2004. "Automated Construction by Contour Crafting - Related Robotics and Information Technologies". Journal of Automation in Construction - Special Issue: The best of ISARC 2002, 13(1): pp. 5 - 19.
2. Khoshnevis, B., Russel, R., Kwon, H, and Bukkapatnam, S., "Crafting Large Prototypes, " IEEE Robotics & Automation Magazine, pp. 33-42, September 2001. (Pubitemid 33048565)
3. Bosscher, P., Williams II, R. L., Bryson, S and Castro- Lacouture, D., "Cable-suspended Robotic Contour Crafting System, " in Proceedings of the 2006 ASME DETC/CIE conferences, (Philadelphia, Pennsylvania), DETC2006- 99016, September 2006.
4. Williams II, R. L., Albus, J. S., and Bostelman, R. V., 2004. "3D cable-based Cartesian metrology system". Journal of Robotic Systems, 21(5), pp. 237 - 257.
5. Bosscher, P., 2004. "Disturbance robustness measures and wrench-feasible workspace generation techniques for cable-driven robots". PhD dissertation, Georgia Institute of Technology, Atlanta, GA, November.
6. Unger, D., Dagalakis, N.G., Tsai, T.-M., and Lee, J.D., 1988, "Optimum stiffness study for a parallel link robot crane under horizontal force", 2nd Int. Symp. on Robotics and Manufacturing, Albuquerque NM: 1037-1046.
7. Salisbury, J.K., 1980, "Active stiffness control of a manipulator in Cartesian coordinates, " in Proceedings of the 19th IEEE Conference on Decision and Control, Albuquerque, NM, December: 87-97.