Validation of Emergency Strategies for Cable-Driven Parallel Robots After a Cable Failure

You are here: Homepage > Search

Validation of Emergency Strategies for Cable-Driven Parallel Robots After a Cable Failure

Boumann, Roland / Jeziorek, Christoph / Bruckmann, Tobias

This work describes the experimental validation of emergency strategies for cable-driven parallel robots after a cable failure. In previous work of the authors, two strategies have been introduced and verified within simulation. One strategy is based on the minimization of the robots kinetic energy, while the other strategy utilizes potential fields to guide the end effector to a safe pose. In order to validate those strategies on a prototype, a decoupling device is developed which induces a cable failure at the end effector of the SEGESTA prototype. Moreover, a very basic failure detection algorithm is proposed. Using the decoupling device, experiments are conducted. The robot detects the failure on itself, switches to emergency mode and applies one of the strategies. As both strategies safeguard the end effector, they are successfully validated.

Access

Check access

Check availability in my library

Order at Subito €

Export, share and cite

Document information

Title :

Validation of Emergency Strategies for Cable-Driven Parallel Robots After a Cable Failure

Additional title:

Mechan. Machine Science

Contributors:

Caro, Stéphane (editor) / Pott, Andreas (editor) / Bruckmann, Tobias (editor) / Boumann, Roland (author) / Jeziorek, Christoph (author) / Bruckmann, Tobias (author)

Conference:

International Conference on Cable-Driven Parallel Robots ; 2023 ; Nantes, France June 25, 2023 - June 28, 2023

Published in:

Cable-Driven Parallel Robots ; Chapter : 17 ; 209-220

Mechanisms and Machine Science ; 132

Publication date :

2023-06-03

Size :

12 pages

ISBN :

978-3-031-32322-5 , 978-3-031-32321-8

ISSN :