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.


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    Titel :

    An Emergency Strategy for Cable Failure in Reconfigurable Cable Robots


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Gouttefarde, Marc (Herausgeber:in) / Bruckmann, Tobias (Herausgeber:in) / Pott, Andreas (Herausgeber:in) / Boumann, Roland (Autor:in) / Bruckmann, Tobias (Autor:in)

    Kongress:

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


    Erschienen in:

    Cable-Driven Parallel Robots ; Kapitel : 18 ; 217-229


    Erscheinungsdatum :

    01.06.2021


    Format / Umfang :

    13 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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