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.

Berti, A., Gouttefarde, M., Carricato, M. (2016). Dynamic Recovery of Cable-Suspended Parallel Robots After a Cable Failure. Cham : Springer International Publishing [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.
2016
Advances in Robot Kinematics 2016
331
339
Berti, A., Gouttefarde, M., Carricato, M. (2016). Dynamic Recovery of Cable-Suspended Parallel Robots After a Cable Failure. Cham : Springer International Publishing [10.1007/978-3-319-56802-7_35].
Berti, Alessandro; Gouttefarde, Marc; Carricato, Marco
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/605300
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