Investigation of a cable-driven parallel mechanism for interaction with a variety of surface, applied to the cleaning of free-form buildings


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Voss, K.H.J. and Wijk, V. van der and Herder, J.L. (2012) Investigation of a cable-driven parallel mechanism for interaction with a variety of surface, applied to the cleaning of free-form buildings. In: Proceedings of the IFToMM 13th International Symposium on Advances in Robot Kinematics. Springer, 261 - 268. ISBN 9789400746190

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Abstract:In this paper, the capability of a specific cable-driven parallel mechanism to interact with a variety of surfaces is investigated. This capability could be of use in for example the cleaning of large building surfaces. A method is presented to investigate the workspace for which the cables do not interfere and a surface interaction force can be generated. This method takes into account the influence of cable mass. As an example, this method is used for the design of a mechanism with a workspace conform to the dimensions of a typical building facade. The mechanism is concluded to be feasible as long as there is room to locate the pulleys at an adequate distance from the surface
Item Type:Book Section
Faculty:
Engineering Technology (CTW)
Link to this item:http://purl.utwente.nl/publications/81849
Official URL:http://dx.doi.org/10.1007/978-94-007-4620-6_33
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