This work presents a set of safety concepts for cable-driven parallel robots (CDPR) based on the kinematic variables position, velocity and acceleration, as well as applicable forces. A strategy for shortening the stopping distance during emergency braking is also presented. The approaches are first described for a single motor with a holding brake and subsequently extended to monitor the robot workspace using multiple winches. This is demonstrated for a planar two DoF CDPR with four motor-driven winches as an experimental setup. It is shown that the end effector can be stopped before reaching defined limits, regardless of the current velocity.


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    Titel :

    Development of Safety Concepts for Cable-Driven Parallel Robots


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Gouttefarde, Marc (Herausgeber:in) / Bruckmann, Tobias (Herausgeber:in) / Pott, Andreas (Herausgeber:in) / Winter, David Lukas (Autor:in) / Ament, Christoph (Autor:in)

    Kongress:

    International Conference on Cable-Driven Parallel Robots ; 2021 July 07, 2021 - July 09, 2021


    Erschienen in:

    Cable-Driven Parallel Robots ; Kapitel : 29 ; 360-371


    Erscheinungsdatum :

    01.06.2021


    Format / Umfang :

    12 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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