Simulation and Model-Based Verification of an Emergency Strategy for Cable Failure in Cable Robots

Author:

Boumann RolandORCID,Bruckmann TobiasORCID

Abstract

Cable failure is an extremely critical situation in the operation of cable-driven parallel robots (CDPR), as the robot might be instantly outside of its predefined workspace. Therefore, the calculation of a cable force distribution might fail and, thus, the controller might not be able to master the guidance of the system anymore. However, as long as there is a remaining set of cables, the dynamic behavior of the system can be influenced to prevent further damage, such as collisions with the ground. The paper presents a feasible algorithm, introduces the models for dynamical multi-body simulation and verifies the algorithm within control loop closure.

Funder

Federal Ministry for Economic Affairs and Energy

Publisher

MDPI AG

Subject

Control and Optimization,Control and Systems Engineering

Reference27 articles.

1. Cable-Driven Parallel Robots: Theory and Application;Pott,2018

2. Optimization of the Geometry of a Cable-Driven Storage and Retrieval System;Reichert,2019

3. A Cable Driven Parallel Robot with a Modular End Effector for the Installation of Curtain Wall Modules

4. Under Constrained Cable-Driven Parallel Robot for Vertical Green Maintenance;Schröder,2021

5. Real-World Development of a Cleaning CDPR for Primary Lamella Sedimentation Tanks;Leung,2021

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