Cable-actuated manipulators (or 'cable robots') constitute a relatively new classification of robots which use motors, located at fixed remote locations, to manipulate an end-effector by extending or retracting cables. These manipulators possess a number of unique properties which make them proficient with tasks involving high payloads, large workspaces, and dangerous or contaminated environments. However, a number of challenges exist which have limited the mainstream emergence of cable robots. This thesis addresses two of the most important of these issues-- workspace analysis and disturbance compensation. Workspace issues are particularly important, as many large-scale applications require the end-effector to operate in regions of a particular shape, and to exert certain minimum forces throughout those regions. The 'Force-Feasible Workspace' represents the set of end-effector positions, for a given robot design, for which the robot can exert a set of required forces on its environment. This can be considered as the robot's 'usable' workspace, and an analysis of this workspace shape for point-mass cable robots is therefore presented to facilitate optimal cable robot design. Numerical simulation results are also presented to validate the analytical results, and to aid visualization of certain complex workspace shapes. Some cable robot applications may require mounting motors to moving bases (i.e. mobile robots) or other surfaces which are subject to disturbances (i.e. helicopters or crane arms). Such disturbances can propagate to the end-effector and cause undesired motion, so the rejection of motor mount disturbances is also of interest. This thesis presents a strategy for measuring these disturbances and compensating for them. General approaches and implementation issues are explored qualitatively with a simple one-degree-of-freedom prototype (including a strategy for mitigating accelerometer drift), and quantitative simulation results are presented as a proof of concept.

Indiana University-Purdue University Indianapolis (IUPUI) / This thesis proposes a family of non-isolated bidirectional converter in order to interface dc and ac variables. Such power electronics solutions guarantee: (i) bidirectional power flow between dc and ac converter sides, (ii) independent control in both converter sides, (iii) high level of integration with a reduction of one power switch and its drive circuits, (iv) implementation of two functions by using a unique power conversion stage and (v) reduction of the capacitor losses. Despite proposing new power converter solutions, this thesis presents an analysis of the converters in terms of pulse-width-modulation (PWM) strategy, dc-link capacitor variables, and suitable a control approach. Solutions for single-phase, three-phase and three-phase four-wire systems are proposed by employing a converter leg with three switches. A possible application of this converter is in Vehicle-to-Grid (V2G) systems and interfacing dc microgrid with a utility grid. In addition to the new power electronics converters proposed in this thesis, an experimental setup has been developed for validation of the simulated outcomes. The proof-of-concept experimental setup is constituted by: DSP, Drivers & Integrating Board, Power Supply and, Power Converter & Heat-Sink .

Indiana University-Purdue University Indianapolis (IUPUI) / This research proposes state-of-the-art multilevel converter topologies and their modulation strategies, the implementation of a conventional flying-capacitor converter topology up to four-level, and a new four-level flying-capacitor H-Bridge converter confi guration. The three phase version of this proposed four-level flying-capacitor H-Bridge converter is given as well in this study. The highlighted advantages of the proposed converter are as following: (1) the same blocking voltage for all switches employed in the con figuration, (2) no capacitor midpoint connection is needed, (3) reduced number of passive elements as compared to the conventional solution, (4) reduced total dc source value by comparison with the conventional topology. The proposed four-level capacitor-clamped H-Bridge converter can be utilized as a multilevel inverter application in an electri fied railway system, or in hybrid electric vehicles. In addition to the implementation of the proposed topology in this research, its experimental setup has been designed to validate the simulation results of the given converter topologies.