On the Dynamics and Emergency Stop Behavior of Cable-Driven Parallel Robots
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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.
KeywordsMobile Platform Cable Tension Cable Force Emergency Stop Cable Robot
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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