This paper studies how emergencies and failures can be managed in cable-driven parallel robots, in particular in the case of a redundant cable-suspended robot subjected to a cable breakdown. The objective is to present and test via numerical simulation the feasibility of an emergency strategy that allows the robot platform to be dynamically recovered to a safe position. Preliminary results, based on a simplified robot with a point-mass platform suspended by 4 cables, show that the proposed strategy may be an effective way to guide the platform from an unstable pose determined by the cable failure to a new static equilibrium pose.
Dynamic Recovery of Cable-Suspended Parallel Robots After a Cable Failure / Berti, Alessandro; Gouttefarde, Marc; Carricato, Marco. - STAMPA. - 4:(2016), pp. 331-339. [10.1007/978-3-319-56802-7_35]
Dynamic Recovery of Cable-Suspended Parallel Robots After a Cable Failure
BERTI, ALESSANDRO;CARRICATO, MARCO
2016
Abstract
This paper studies how emergencies and failures can be managed in cable-driven parallel robots, in particular in the case of a redundant cable-suspended robot subjected to a cable breakdown. The objective is to present and test via numerical simulation the feasibility of an emergency strategy that allows the robot platform to be dynamically recovered to a safe position. Preliminary results, based on a simplified robot with a point-mass platform suspended by 4 cables, show that the proposed strategy may be an effective way to guide the platform from an unstable pose determined by the cable failure to a new static equilibrium pose.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
