This paper presents a predictor-corrector-scheme for determination of a geometry for a cable-driven parallel robot (short: cable robot) for In-Operation-Reconfiguration. The prediction step calculates a guess for the geometry, by determining a transformation of the robot based on a simple workspace abstraction. By using the prediction as initial values, the correction step determines the final set of reconfigurable parameters by constraint optimization, such that, the robot fulfils the requirements sufficiently. The approach considers a spatial cuboid as requirement and takes into the robot properties of cable forces, platform velocities and acting platform wrenches. Conclusively, the method is validated by a simulative scenario, where the numerical properties are evaluated and additionally, practical reconfiguration experiments (according to ISO 9283) to investigate the suitability of the general planning approach. The results show on the one hand that the suitability to rapidly determine a suitable robot’s geometry and on the other hand the feasibility for real reconfiguration planning.
A Predictor-Corrector-Scheme for the Geometry Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots
Mechan. Machine Science
International Conference on Cable-Driven Parallel Robots ; 2023 ; Nantes, France June 25, 2023 - June 28, 2023
2023-06-03
12 pages
Article/Chapter (Book)
Electronic Resource
English
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