Cable-based Metrology System for Sculpting Assistance

3D Cable-Based Cartesian Metrology System

A novel cable-based metrology system is presented wherein six cables are connected in parallel from ground-mounted string pots to the moving object or tool of interest. Cartesian pose can be determined for feedback control and other purposes by reading the lengths of the six cables via the string pots and using closed-form forward pose kinematics. This article focuses on a sculpting metrology t...

Seven-dof Cable-suspended Robot with Independent Metrology

This paper presents a new cable-suspended robot. It is a 7-cable spatial design with a closed-form forward pose kinematics solution. Applications include automated machining, construction, and sculpting. This paper presents two new ideas. First, an independent, passive, sixstring-pot-based Cartesian metrology system was built and tested since length measurements through the active drive system ...

Stability Analysis and Robust PID Control of Cable Driven Robots Considering Elasticity in Cables

In this paper robust PID control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. To develop the idea of control for cable robots with elastic cables, a robust PID control for cable driven robots with ideal rigid cables is firstly de...

Power of One Bit of Quantum Information in Quantum Metrology

Self-Contained Automated Construction Deposition System

This article presents a novel autonomous system concept for automated construction of houses and other buildings via deposition of concrete and similar materials. The overall system consists of a novel cable-suspended mobility subsystem (a self-contained extension of the RoboCrane), a deposition nozzle subsystem, a metrology subsystem, and a material supply subsystem. This article focuses mainl...