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Development of Emergency Strategies for Cable-Driven Parallel Robots after a Cable Break

  • Roland BoumannEmail author
  • Tobias Bruckmann
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 74)

Abstract

This paper investigates cable breaks of a cable-driven parallel robot and proposes emergency strategies to recover the payload. A simulation model of a simplified two dimensional robot is set up and the workspace of the robot is analyzed before and after a cable break. Two methods are proposed for dealing with the issue of guiding the end effector into the remaining workspace and to stop the system: An approach to minimize the kinetic energy of the system is made as well as the use of potential fields in combination with a method for calculating reasonable cable force distributions outside of the wrench feasible workspace. Both methods are tested in simulation and the results are presented.

Keywords

cable-driven parallel robot cable break cable failure force distribution emergency strategies model prediction potential fields 

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Notes

Acknowledgment

This research received funding from the EFRE.NRW (2014-2020) Joint Research Funding Programme of the European Union (EFRE) and the Ministry of Economy, Energy, Industry, and Handicrafts of the German Federal State of North Rhine-Westphalia (NRW) under grant agreement EFRE-0800365 (ML-1-1-019B, LEAN).

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.University of Duisburg-EssenDuisburgGermany

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