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

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

doi:10.1007/978-94-007-4902-3_44

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

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

Faculty of Engineering Technology

Research output: Chapter in Book/Report/Conference proceeding › Chapter › Academic › peer-review

4 Citations (Scopus)

9 Downloads (Pure)

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 language	English
Title of host publication	New Trends in Mechanism and Machine Science: theory and applications in engineering
Editors	Fernando Viadero, Marco Ceccarelli
Place of Publication	Santander, Spain
Publisher	Springer
Pages	409-417
ISBN (Print)	978-94-007-4901-6
DOIs	https://doi.org/10.1007/978-94-007-4902-3_44
Publication status	Published - 18 Sept 2012
Event	4th IFToMM European Conference on Mechanism Science, EUCOMES 2012 - Santander, Spain Duration: 18 Sept 2012 → 22 Sept 2012 Conference number: 4

Publication series

Name	Mechanism and Machine Science
Publisher	Springer
Number	7
Volume	7

Conference

Conference	4th IFToMM European Conference on Mechanism Science, EUCOMES 2012
Abbreviated title	EUCOMES
Country/Territory	Spain
City	Santander
Period	18/09/12 → 22/09/12

Keywords

METIS-288711
IR-81995

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10.1007/978-94-007-4902-3_44

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). Springer. https://doi.org/10.1007/978-94-007-4902-3_44

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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.",

keywords = "METIS-288711, IR-81995",

author = "K.H.J. Voss and {van der Wijk}, V. and Herder, {Justus Laurens}",

year = "2012",

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doi = "10.1007/978-94-007-4902-3_44",

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editor = "Fernando Viadero and Marco Ceccarelli",

booktitle = "New Trends in Mechanism and Machine Science: theory and applications in engineering",

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note = "4th IFToMM European Conference on Mechanism Science, EUCOMES 2012, EUCOMES ; Conference date: 18-09-2012 Through 22-09-2012",

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Voss, KHJ, van der Wijk, V & Herder, JL 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. Mechanism and Machine Science, no. 7, vol. 7, Springer, Santander, Spain, pp. 409-417, 4th IFToMM European Conference on Mechanism Science, EUCOMES 2012, Santander, Spain, 18/09/12. https://doi.org/10.1007/978-94-007-4902-3_44

A cable-driven parallel mechanism for the interaction with hemispherical surfaces. / Voss, K.H.J.; van der Wijk, V.; Herder, Justus Laurens.
New Trends in Mechanism and Machine Science: theory and applications in engineering. ed. / Fernando Viadero; Marco Ceccarelli. Santander, Spain: Springer, 2012. p. 409-417 (Mechanism and Machine Science; Vol. 7, No. 7).

Research output: Chapter in Book/Report/Conference proceeding › Chapter › Academic › peer-review

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N2 - 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.

AB - 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.

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BT - New Trends in Mechanism and Machine Science: theory and applications in engineering

A2 - Viadero, Fernando

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T2 - 4th IFToMM European Conference on Mechanism Science, EUCOMES 2012

Y2 - 18 September 2012 through 22 September 2012

ER -

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

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