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Kinematics, Dynamics, and Controller Design for the Contour Crafting Cartesian Cable (C4) Robot

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2008, Master of Science (MS), Ohio University, Mechanical Engineering (Engineering and Technology).
The Contour Crafting Cartesian Cable (C4) Robot is a type of cable-suspended robot that applies Contour Crafting (CC) technology. CC Technology is a new technology that is used to build construction layer by layer automatically. A cable-suspended robot is simpler in its form than traditional robots. Due to its large workspace, it has brought engineers' interest in building construction, transporting goods, and simulating the outer space environment. This thesis introduces how to use the cable-suspended robot that is combined with CC technology to enable automated house-building. Five different C4 robot design concepts are proposed and evaluated. After eliminating the unqualified, the remaining two concepts were tested by four stricter criteria: kinematics, dynamics, workspace, and stiffness. Then, the final suggested C4 robot is chosen based on the objective of controller design and performance. This thesis also focus on a key problem – how to maintain cable positive tensions during the CC process for all motions.
Robert L. Williams II, PhD (Committee Chair)
Paul Bosscher, PhD (Committee Member)
Hajrudin Pasic, PhD (Committee Member)
Wayne Huang, PhD (Committee Member)
247 p.

Recommended Citations

Citations

  • Xin, M. (2008). Kinematics, Dynamics, and Controller Design for the Contour Crafting Cartesian Cable (C4) Robot [Master's thesis, Ohio University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1213223249

    APA Style (7th edition)

  • Xin, Ming. Kinematics, Dynamics, and Controller Design for the Contour Crafting Cartesian Cable (C4) Robot. 2008. Ohio University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1213223249.

    MLA Style (8th edition)

  • Xin, Ming. "Kinematics, Dynamics, and Controller Design for the Contour Crafting Cartesian Cable (C4) Robot." Master's thesis, Ohio University, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1213223249

    Chicago Manual of Style (17th edition)