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Design and programming for cable-driven parallel robots in the German pavilion at the EXPO 2015

: Tempel, Philipp Thomas; Schnelle, Fabian; Pott, Andreas; Eberhard, Peter

Fulltext urn:nbn:de:0011-n-3664438 (2.1 MByte PDF)
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Created on: 28.11.2015

Machines 3 (2015), No.3, pp.223-241
ISSN: 2075-1702
Journal Article, Electronic Publication
Fraunhofer IPA ()
ISW; cable-driven parallel robot; path planning; Bahnplanung

In the German Pavilion at the EXPO 2015, two large cable-driven parallel robots are flying over the heads of the visitors representing two bees flying over Germany and displaying everyday life in Germany. Each robot consists of a mobile platform and eight cables suspended by winches and follows a desired trajectory, which needs to be computed in advance taking technical limitations, safety considerations and visual aspects into account. In this paper, a path planning software is presented, which includes the design process from developing a robot design and workspace estimation via planning complex trajectories considering technical limitations through to exporting a complete show. For a test trajectory, simulation results are given, which display the relevant trajectories and cable force distributions.