This paper investigates cable failure and an emergency strategy for reconfigurable cable-driven parallel robots (CDPRs). Reconfiguration of CDPRs is a key feature to avoid collisions, which is currently applied e.g. in prototypes for automated construction tasks. This paper proposes to utilize this ability within an emergency strategy based on minimization of the kinetic energy, which is extended to include movable pulleys on actuated linear slides. The paper analyzes the static equilibrium workspace with constant orientation of a prototype both pre- and post-failure. Based on global numerical optimization, a geometric reconfiguration is proposed to restore most of the workspace after failure. Furthermore, within a dynamic simulation, the extended strategy is evaluated for dynamically moving pulleys. Finally, the results are compared to a simulation with fastened pulleys.
An Emergency Strategy for Cable Failure in Reconfigurable Cable Robots
Mechan. Machine Science
International Conference on Cable-Driven Parallel Robots ; 2021 July 07, 2021 - July 09, 2021
01.06.2021
13 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Cable-driven parallel robot , Reconfiguration , Cable break , Cable failure , Force distribution , Emergency strategies , Nonlinear model prediction Engineering , Control, Robotics, Mechatronics , Machinery and Machine Elements , Vibration, Dynamical Systems, Control , Industrial and Production Engineering
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