Advertisement

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

  • Philipp Tempel
  • Alexander Verl
  • Andreas Pott
Conference paper
Part of the CISM International Centre for Mechanical Sciences book series (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.

Keywords

Mobile Platform Cable Tension Cable Force Emergency Stop Cable Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Notes

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.

References

  1. Bruckmann, T., Mikelsons, L., Brandt, T., Hiller, M., & Schramm, D. (2008). Wire robots Part I: kinematics, analysis & design. In J.-H. Ryu (Ed.), Parallel Manipulators. New Developments: I-Tech Education and Publishing.Google Scholar
  2. Bruckmann, T., Lalo, W., Sturm, C., Schramm, D. & Hiller, M. (2013). Design and realization of a high rack storage and retrieval machine based on wire robot technology.Google Scholar
  3. Cone, L. (1985). Skycam, an aerial robotic camera system. Byte Magazine, 10, 122–132.Google Scholar
  4. Dagalakis, N. (1989). Robot crane technology: Final report (Vol. 1267). NIST technical note National Institute of Standards and Technology, Gaithersburg, CO: U.S. Dept. of Commerce.CrossRefGoogle Scholar
  5. Gouttefarde, M., Nguyen, D. Q., & Baradat, C. (2014). Kinetostatic analysis of cable-driven parallel robots with consideration of sagging and pulleys. In J. Lenarčič & O. Khatib (Eds.), Advances in Robot Kinematics (pp. 213–221). Cham: Springer International Publishing.CrossRefGoogle Scholar
  6. Kozak, K., Zhou, Q., & Jinsong. W. (2004) Static analysis of cable-driven manipulators with non-negligible cable mass. In 2004 IEEE Conference on Robotics, Automation and Mechatronics (Vol. 2, pp. 886–891).Google Scholar
  7. Merlet, J.-P. (2015). The kinematics of cable-driven parallel robots with sagging cables: Preliminary results. In 2015 IEEE International Conference on Robotics and Automation (ICRA).Google Scholar
  8. Perreault, S., & Gosselin, C. (2008). Cable-driven parallel mechanisms: application to a locomotion interface. Journal of Mechanical Design, 130(10), 102301.CrossRefGoogle Scholar
  9. Pott, A., Mütherich, H., Kraus, W., Schmidt, V., Miermeister, P., & Verl, A. (2013). IPAnema: A family of cable-driven parallel robots for industrial applications. In T. Bruckmann & A. Pott (Eds.), Cable-Driven Parallel Robots, Mechanisms and Machine Science (Vol. 12, pp. 119–134). Berlin: Springer.CrossRefGoogle Scholar
  10. Tempel, P., Miermeister, P., & Pott, A. (2015a). Kinematics and dynamics modeling for real-time simulation of the cable-driven parallel robot IPAnema 3. Proceedings of the 14th IFToMM World Congress (14th–2, pp. 117–123).Google Scholar
  11. Tempel, P., Schnelle, F., Pott, A. & Eberhard, P. (2015b). Design and programming for cable-driven parallel robots in the german pavilion at the EXPO 2015. Machines, 3(3), 223–241. ISSN: 2075-1702.Google Scholar
  12. Verhoeven, R. (2004). Analysis of the Workspace of Tendon-based Stewart Platforms. Ph.D. thesis, Universität Duisburg-Essen, Duisburg-Essen. http://purl.oclc.org/NET/duett-09112004-165148.
  13. Zintz, K. (2015). Forschungsroboter mit Jahrmarktpotenzial. http://j.mp/cdpr-4-human.

Copyright information

© CISM International Centre for Mechanical Sciences 2016

Authors and Affiliations

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

Personalised recommendations