This work describes the experimental validation of emergency strategies for cable-driven parallel robots after a cable failure. In previous work of the authors, two strategies have been introduced and verified within simulation. One strategy is based on the minimization of the robots kinetic energy, while the other strategy utilizes potential fields to guide the end effector to a safe pose. In order to validate those strategies on a prototype, a decoupling device is developed which induces a cable failure at the end effector of the SEGESTA prototype. Moreover, a very basic failure detection algorithm is proposed. Using the decoupling device, experiments are conducted. The robot detects the failure on itself, switches to emergency mode and applies one of the strategies. As both strategies safeguard the end effector, they are successfully validated.
Validation of Emergency Strategies for Cable-Driven Parallel Robots After a Cable Failure
Mechan. Machine Science
International Conference on Cable-Driven Parallel Robots ; 2023 ; Nantes, France June 25, 2023 - June 28, 2023
2023-06-03
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
cable-driven parallel robot , cable break , cable failure , force distribution , emergency strategies , nonlinear model prediction , potential fields , failure detection algorithm , decoupling device Engineering , Control, Robotics, Mechatronics , Machinery and Machine Elements , Vibration, Dynamical Systems, Control