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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    Title :

    Development of Safety Concepts for Cable-Driven Parallel Robots


    Additional title:

    Mechan. Machine Science


    Contributors:

    Conference:

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


    Published in:

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


    Publication date :

    2021-06-01


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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