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Symposium on Robot Design, Dynamics and Control

ROMANSY21 2016: ROMANSY 21 - Robot Design, Dynamics and Control pp 431–438Cite as

On the Dynamics and Emergency Stop Behavior of Cable-Driven Parallel Robots

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Part of the book series: CISM International Centre for Mechanical Sciences ((CISM,volume 569))

Abstract

High dynamics of cable-driven parallel robots are beneficial to their use, however, the behavior of such robots during extreme maneuvers is yet to be investigated. In this paper, a simulation model is presented and validated in order to assess the emergency stop behavior of cable robots by simulation. Simulation results are evaluated using spectral analysis and validated against experimental data of a medium-sized redundantly restrained cable robot. The correctness and limitations of the model’s accuracy in a range of the actual system’s dynamics are furthermore shown.

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Notes

  1. 1.

    System Identification Toolbox™ and MATLAB® are trademarks or registered trademarks of The MathWorks, Inc.®.

  2. 2.

    Note: force control or payload compensation were not available in the actual installation.

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Acknowledgments

The University of Stuttgart as well as the Ministerium für Wissenschaft, Forschung und Kunst Baden-Württemberg (Ministry of Science, Research and Art Baden-Württemberg) supported the research for this project financially. These contributions are highly appreciated. We also want to thank Milla & Partner for their invitation to be part of the EXPO team. Especially, we want to acknowledge the many discussions with Ingo Kaske and Ulrich Kunkel which made the show in the German Pavilion technically possible.

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Authors and Affiliations

  1. Institute for Control Engineering of Machine Tools and Manufacturing Units ISW, University of Stuttgart, Stuttgart, Germany

    Philipp Tempel, Alexander Verl & Andreas Pott

Authors
  1. Philipp Tempel
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  2. Alexander Verl
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  3. Andreas Pott
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Corresponding author

Correspondence to Philipp Tempel .

Editor information

Editors and Affiliations

  1. Dept. of Industrial Engineering, University of Bologna Dept. of Industrial Engineering, Bologna, Italy

    Vincenzo Parenti-Castelli

  2. Inst. für Techn. Num. Mechanik, Universität Stuttgart Inst. für Techn. Num. Mechanik, Stuttgart, Germany

    Werner Schiehlen

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© 2016 CISM International Centre for Mechanical Sciences

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Tempel, P., Verl, A., Pott, A. (2016). On the Dynamics and Emergency Stop Behavior of Cable-Driven Parallel Robots. In: Parenti-Castelli, V., Schiehlen, W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. ROMANSY21 2016. CISM International Centre for Mechanical Sciences, vol 569. Springer, Cham. https://doi.org/10.1007/978-3-319-33714-2_48

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  • DOI: https://doi.org/10.1007/978-3-319-33714-2_48

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-33713-5

  • Online ISBN: 978-3-319-33714-2

  • eBook Packages: EngineeringEngineering (R0)

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