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

K.H.J. Voss, V. van der Wijk, Justus Laurens Herder

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

3 Citations (Scopus)

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.
Original languageEnglish
Title of host publicationNew Trends in Mechanism and Machine Science: theory and applications in engineering
EditorsFernando Viadero, Marco Ceccarelli
Place of PublicationSantander, Spain
PublisherSpringer
Pages409-417
ISBN (Print)978-94-007-4901-6
DOIs
Publication statusPublished - 18 Sep 2012
Event4th IFToMM European Conference on Mechanism Science, EUCOMES 2012 - Santander, Spain
Duration: 18 Sep 201222 Sep 2012
Conference number: 4

Publication series

NameMechanism and Machine Science
PublisherSpringer
Number7
Volume7

Conference

Conference4th IFToMM European Conference on Mechanism Science, EUCOMES 2012
Abbreviated titleEUCOMES
CountrySpain
CitySantander
Period18/09/1222/09/12

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Keywords

  • METIS-288711
  • IR-81995

Cite this

Voss, K. H. J., van der Wijk, V., & Herder, J. L. (2012). A cable-driven parallel mechanism for the interaction with hemispherical surfaces. In F. Viadero, & M. Ceccarelli (Eds.), New Trends in Mechanism and Machine Science: theory and applications in engineering (pp. 409-417). (Mechanism and Machine Science; Vol. 7, No. 7). Santander, Spain: Springer. https://doi.org/10.1007/978-94-007-4902-3_44