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ohiou1213223249.pdf (2.63 MB)
ETD Abstract Container
Abstract Header
Kinematics, Dynamics, and Controller Design for the Contour Crafting Cartesian Cable (C4) Robot
Author Info
Xin, Ming
Permalink:
http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1213223249
Abstract Details
Year and Degree
2008, Master of Science (MS), Ohio University, Mechanical Engineering (Engineering and Technology).
Abstract
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.
Committee
Robert L. Williams II, PhD (Committee Chair)
Paul Bosscher, PhD (Committee Member)
Hajrudin Pasic, PhD (Committee Member)
Wayne Huang, PhD (Committee Member)
Pages
247 p.
Subject Headings
Civil Engineering
;
Engineering
;
Mechanical Engineering
Keywords
Kinematics
;
Dynamics
;
Computed-torque Control
;
Workspace
;
Stiffness
;
Translational Stiffness
;
Rotational Stiffness
;
Cable-suspended Robot
;
Contour Crafting Cartesian Cable Robot
;
Cartesian motion
;
Positive cable tensions
;
Pesudostatics
Recommended Citations
Refworks
EndNote
RIS
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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)
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Document number:
ohiou1213223249
Download Count:
1,685
Copyright Info
© 2008, all rights reserved.
This open access ETD is published by Ohio University and OhioLINK.