Browsing University of Waterloo by Author "Rushton, Mitchell"
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Variable-Structure Cable-Driven Parallel Robots
Rushton, Mitchell (University of Waterloo, 2022-05-16)Cable-driven parallel robots (CDPR) are a special class of robotic manipulators consisting of a rigid end effector suspended, constrained, and actuated by a number of length-varying cables. Since cable mass is typically ... -
Vibration Control in Cable Robots Using a Multi-Axis Reaction System
Rushton, Mitchell (University of Waterloo, 2016-09-28)The primary motivation of this thesis is to develop a control strategy for eliminating persistent vibrations in all six spatial directions of the end effector of a planar cable-driven parallel robotic manipulator. By ...