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Investigation on a planar cable-driven parallel robot

: Kraus, Werner; Schmidt, Valentin; Pott, Andreas; Verl, Alexander

Berns, Karsten (Chair); Verl, Alexander (Vice Chair); Hägele, Martin (Session Chair) ; Deutsche Gesellschaft für Robotik; Informationstechnische Gesellschaft im VDE; Fraunhofer-Institut für Produktionstechnik und Automatisierung -IPA-, Stuttgart; TU Kaiserslautern:
ROBOTIK 2012, 7th German Conference on Robotics 2012. Proceedings. CD-ROM : 21-22 May 2012, Munich in Conjunction with Automatica 2012
Berlin: VDE-Verlag, 2012
ISBN: 978-3-8007-3418-4
German Conference on Robotics (ROBOTIK) <7, 2012, Munich>
International Trade Fair on Automation and Mechatronics (AUTOMATICA) <5, 2012, Munich>
Conference Paper
Fraunhofer IPA ()
Seilroboter; Parallelroboter; Roboter; Kinematik; Algorithmus

Planar parallel robots have been examined theoretically for a long period. Similarly, cable robots have also been a subject for research in the last decade. Recent research on cable-driven parallel robots primarily focused on spatial configurations which enable six degrees of freedom (DOF). This paper examines a planar cable robot with two translative and one rotative DOF. We present a theoretic concept of the robot and the implementation of the kinematic algorithms used. The workspace of the robot is investigated for different tension levels. The calibration of the robot is done with a LaserTracker. Finally, simulation results are verified by measurements of the test rig performance.