A cable-driven parallel mechanism for the interaction with hemispherical surfaces


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Voss, K.H.J. and Wijk, V. van der and Herder, J.L. (2013) A cable-driven parallel mechanism for the interaction with hemispherical surfaces. In: New Trends in Mechanism and Machine Science: theory and applications in engineering. Mechanism and Machine Science, 7 (7). Springer, Santander, Spain, 409 - 417. ISBN 9789400749016

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Abstract:In this paper, a device based upon a specific cable-driven parallel mechanism to interact with hemispherical surfaces is proposed and investigated. This device could be of use in, for example, the automated cleaning of glass domes. Because the cables move on the hemispherical surface, they are curved. A method is developed to calculate the inverse kinematics and the workspace of this mechanism. This method and device are applied to and evaluated for an example of a large glass dome, showing its potential for this purpose.
Item Type:Book Section
Faculty:
Engineering Technology (CTW)
Link to this item:http://purl.utwente.nl/publications/81995
Official URL:http://dx.doi.org/10.1007/978-94-007-4902-3_44
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