This paper presents a planning method to systematically determine a geometry for a cable-driven parallel robot (short: cable robot) that satisfies a given workspace requirement. Furthermore, the method should be suitable for a fast workspace planning during In-Operation-Reconfiguration which implies that the algorithm should be executable fast, i.e. the aim is a computation time below one second. To do so, firstly the theoretical backgrounds for kinematics and workspace analysis of cable robots are introduced. Based on that, the parameter restrictions are modelled in terms of continuous closed sets, which are later used as bounds during the planning process. Afterwards, the theoretical problem of reconfiguration is presented and the solution strategy is proposed. In order to evaluate the given method, in the last section an exemplary reconfiguration situation is investigated, which shows that the method is suitable for the purpose to determine a cable robot for a given workspace requirement.
Workspace Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots
Mechan. Machine Science
International Conference on Cable-Driven Parallel Robots ; 2021 July 07, 2021 - July 09, 2021
01.06.2021
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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