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.
Development of Safety Concepts for Cable-Driven Parallel Robots
Mechan. Machine Science
International Conference on Cable-Driven Parallel Robots ; 2021 July 07, 2021 - July 09, 2021
2021-06-01
12 pages
Article/Chapter (Book)
Electronic Resource
English
Development of Safety Concepts for Cable-Driven Parallel Robots
TIBKAT | 2021
|Variable-Structure Cable-Driven Parallel Robots
Springer Verlag | 2021
|