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

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

doi:10.1007/978-94-007-4620-6_33

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

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

Faculty of Engineering Technology

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

3 Citations (Scopus)

7 Downloads (Pure)

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

Original language	Undefined
Title of host publication	Proceedings of the IFToMM 13th International Symposium on Advances in Robot Kinematics
Editors	Jadran Lenarcic, Manfred Husty
Place of Publication	Innsbruck, Austria
Publisher	Springer
Pages	261-268
ISBN (Print)	978-94-007-4619-0
DOIs	https://doi.org/10.1007/978-94-007-4620-6_33
Publication status	Published - 24 Jun 2012
Event	13th International Symposium on Advances in Robot Kinematics, ARK 2012 - Innsbruck, Austria Duration: 24 Jun 2012 → 28 Jun 2012 Conference number: 13 http://geometrie.uibk.ac.at/ark2012/

Publication series

Name
Publisher	Springer

Conference

Conference	13th International Symposium on Advances in Robot Kinematics, ARK 2012
Abbreviated title	ARK
Country/Territory	Austria
City	Innsbruck
Period	24/06/12 → 28/06/12
Internet address	http://geometrie.uibk.ac.at/ark2012/

Keywords

METIS-288470
IR-81849

Access to Document

10.1007/978-94-007-4620-6_33

Cite this

Voss, K. H. J., van der Wijk, V., & 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 J. Lenarcic, & M. Husty (Eds.), Proceedings of the IFToMM 13th International Symposium on Advances in Robot Kinematics (pp. 261-268). Springer. https://doi.org/10.1007/978-94-007-4620-6_33

Voss, K.H.J. ; van der Wijk, V. ; Herder, Justus Laurens. / Investigation of a cable-driven parallel mechanism for interaction with a variety of surface, applied to the cleaning of free-form buildings. Proceedings of the IFToMM 13th International Symposium on Advances in Robot Kinematics. editor / Jadran Lenarcic ; Manfred Husty. Innsbruck, Austria : Springer, 2012. pp. 261-268

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Voss, KHJ, van der Wijk, V & Herder, JL 2012, Investigation of a cable-driven parallel mechanism for interaction with a variety of surface, applied to the cleaning of free-form buildings. in J Lenarcic & M Husty (eds), Proceedings of the IFToMM 13th International Symposium on Advances in Robot Kinematics. Springer, Innsbruck, Austria, pp. 261-268, 13th International Symposium on Advances in Robot Kinematics, ARK 2012, Innsbruck, Austria, 24/06/12. https://doi.org/10.1007/978-94-007-4620-6_33

Investigation of a cable-driven parallel mechanism for interaction with a variety of surface, applied to the cleaning of free-form buildings. / Voss, K.H.J.; van der Wijk, V.; Herder, Justus Laurens.
Proceedings of the IFToMM 13th International Symposium on Advances in Robot Kinematics. ed. / Jadran Lenarcic; Manfred Husty. Innsbruck, Austria: Springer, 2012. p. 261-268.

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

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Voss KHJ, van der Wijk V, Herder JL. Investigation of a cable-driven parallel mechanism for interaction with a variety of surface, applied to the cleaning of free-form buildings. In Lenarcic J, Husty M, editors, Proceedings of the IFToMM 13th International Symposium on Advances in Robot Kinematics. Innsbruck, Austria: Springer. 2012. p. 261-268 doi: 10.1007/978-94-007-4620-6_33