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Foreword; Preface; Contents; 1 Introduction; 1.1 The History and Development of Cable-Suspended Parallel Robots; 1.2 The Application of Cable-Suspended Parallel Robots; 1.2.1 Engineering; 1.2.2 Bionics; 1.2.3 Rehabilitation; 1.3 Scope and Organization of This Book; References; 2 Kinematics and Dynamics of the Feed Cable-Suspended Structure for Super Antenna; 2.1 Preamble; 2.2 On Design and Experiment of the Feed Cable-Suspended; 2.2.1 Mechanics Equations of the Feed Cable-Suspended Structure; 2.2.2 Optimization of the Feed Cable-Suspended Structure.

2.2.3 Experimental Results and Discussion of Enhancing the Stiffness of the Feed Cable-Suspended Structure2.3 Dynamic Modeling of a Cable-Suspended Parallel Robot with Non-negligible Cable Mass; 2.3.1 System Dynamic Model; 2.3.2 Mechanics Analysis of the Cable; 2.4 Conclusions; References; 3 Trajectory Tracking Control of the Feed Cable-Suspended Structure for Super Antenna; 3.1 Preamble; 3.2 Fuzzy Plus Proportional-Integral Controller Design; 3.3 Simulation Results and Analysis of Dynamic Model and Trajectory Tracking Controller; 3.3.1 Case 1: 5-m Scaled Model of FAST.

3.3.2 Case 2: 50-m Scaled Model of FAST3.4 Conclusions; References; 4 Integrated Mechanism Design and Control of the Hybrid-Driven Based Cable-Suspended Parallel Robots; 4.1 Preamble; 4.2 Design, Dynamics and Workspace of a Hybrid-Driven Based Cable Parallel Manipulator; 4.2.1 Mechanism Description; 4.2.2 Dynamic Modeling; 4.2.3 Workspace Analysis; 4.2.4 Results and Discussion; 4.2.4.1 Dynamic Simulation; 4.2.4.2 Workspace Simulation; 4.3 Dynamic Modeling and Iterative Learning Control of a Novel Hybrid-Driven Based Three-Cable Parallel Manipulator; 4.3.1 System Description.

4.3.2 Dynamic Modeling4.3.3 Adaptive ILC Design; 4.3.4 Numerical Results and Discussion; 4.4 Integrated Mechanism Design and Control for Completely Restrained Hybrid-Driven Based Cable Parallel Manipulators; 4.4.1 Integrated Optimization Design; 4.4.2 Constraints; 4.4.3 Results and Discussion; 4.4.3.1 Case 1: Ellipse Trajectory; 4.4.3.2 Case 2: Line Segment Trajectory; 4.5 Conclusions; References; 5 Error Analysis of the Hybrid-Driven Based Cable-Suspended Parallel Robots; 5.1 Preamble; 5.2 Mechanism Description; 5.3 Mechanics Analysis and Error Modelling; 5.4 Sensitivity Analysis.

5.5 Results and Discussion5.6 Conclusions; References; 6 Performance Indices of the Hybrid-Driven Based Cable-Suspended Parallel Robots; 6.1 Preamble; 6.2 Comparative Study of Cable Parallel Manipulators with and Without Hybrid-Driven Planar Five-Bar Mechanism; 6.2.1 System Description and Kinematics; 6.2.1.1 Kinematics of the CPR; 6.2.1.2 Kinematics of the HDCPR; 6.2.2 Dynamic Formulation; 6.2.2.1 Dynamic Model of the CPR; 6.2.2.2 Dynamic Model of the HDCPR; 6.2.3 Workspace Determination; 6.2.3.1 Workspace of the CPR; 6.2.3.2 Workspace of the HDCPR; 6.2.4 Stiffness Performance Analysis.

This book provides an essential overview of the authors? work in the field of cable-suspended parallel robots, focusing on innovative design, mechanics, control, development and applications. It presents and analyzes several typical mechanical architectures of cable-suspended parallel robots in practical applications, including the feed cable-suspended structure for super antennae, hybrid-driven-based cable-suspended parallel robots, and cooperative cable parallel manipulators for multiple mobile cranes. It also addresses the fundamental mechanics of cable-suspended parallel robots on the basis of their typical applications, including the kinematics, dynamics and trajectory tracking control of the feed cable-suspended structure for super antennae. In addition it proposes a novel hybrid-driven-based cable-suspended parallel robot that uses integrated mechanism design methods to improve the performance of traditional cable-suspended parallel robots. A comparative study on error and performance indices of hybrid-driven based and traditional cable-suspended parallel robots rounds out the coverage. This book addresses the needs of researchers, engineers and post-graduates in the field of cable-suspended parallel robots and related areas.