In this paper, we review how Cable Driven Parallel Robots (CDPR) can be used for automated warehousing, specifically for Automated Storage and Retrieval Systems (ASRS), and how a concept design in the past decade has turned into a strong contender to the existing ASRS technologies. The developments in addressing low rigidity, in-plane and out-of-plane vibrations, unwanted degrees of freedom, and workspace are discussed in detail. The prototypes and experimental results are discussed and solutions to address the shortcomings of each prototype are reviewed. The outcomes of the studies have resulted in a new Cable-Driven ASRS (CD-ASRS) that is being built and is expected to be ready for industrial trial soon.
A Warehousing Robot: From Concept to Reality
Mechan. Machine Science
International Conference on Cable-Driven Parallel Robots ; 2023 ; Nantes, France June 25, 2023 - June 28, 2023
2023-06-03
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Cable Driven Parallel Robots (CDPR) , Kinematic Cable Constraints , Automated Warehousing , Automated Storage and Retrieval Systems (ASRS) , Cable Robots Vibration Control , Cable Topology Engineering , Control, Robotics, Mechatronics , Machinery and Machine Elements , Vibration, Dynamical Systems, Control