Redundancy Resolution of Cable-Driven Parallel Manipulators

Redundancy Resolution of Cable-Driven Parallel Manipulators

In this thesis, the redundancy resolution and failure analysis of Cable-Driven Parallel Manipulators (CDPM) are investigated. A CDPM consists mainly of a Mobile Platform (MP) actuated by cables. Cables can only apply force in the form of tension. So, to design a fully controllable CDPM, the manipula...

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Bibliographic Details
Main Author: Agahi, MARYAM
Other Authors: Queen's University (Kingston, Ont.). Theses (Queen's University (Kingston, Ont.))
Language:en
en
Published: 2012
Subjects:
Redundancy Resolution
Dynamics
Trajectory Planning
Collision
Robotics
Vibration Analysis
Impact
Cable-Driven Parallel Manipulators
Online Access:http://hdl.handle.net/1974/7523

Internet

http://hdl.handle.net/1974/7523

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