| Popis: |
Presented in this paper are a prototype design for a cable-suspended robot mechanism with two dimensions of free movement, a position feedback strategy, and an embedded control system. In addition, a novel positioning metrology is also proposed such that the Jacobian Matrix can be formed directly through measurement, which contributes greatly to the robot path planning. This cable-suspended robot can be applied to firefighting in high-rise buildings as a novel approach to providing rescue capabilities beyond those of traditional aerial ladders. |
