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

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.

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

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