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On the dynamics and emergency stop behavior of cable-driven parallel robots

: Tempel, Philipp Thomas; Verl, Alexander; Pott, Andreas


Parenti-Castelli, Vincenzo (Ed.) ; International Federation for the Theory of Machines and Mechanisms -IMECH-, Moers; International Centre for Mechanical Sciences:
ROMANSY 21 - Robot design, dynamics and control : Proceedings of the 21st CISM-IFToMM Symposium, June 20-23, Udine, Italy
Cham: Springer International Publishing, 2016 (CISM Courses and Lectures 569)
ISBN: 978-3-319-33713-5 (Print)
ISBN: 978-3-319-33714-2 (Online)
Symposium on Theory and Practice of Robots and Manipulators (RoManSy) <21, 2016, Udine>
Conference Paper
Fraunhofer IPA ()
cable-driven parallel robot; simulation model

High dynamics of cable-driven parallel robots are beneficial to their use, however, the behavior of such robots during extreme maneuvers is yet to be investigated. In this paper, a simulation model is presented and validated in order to assess the emergency stop behavior of cable robots by simulation. Simulation results are evaluated using spectral analysis and validated against experimental data of a medium-sized redundantly restrained cable robot. The correctness and limitations of the model’s accuracy in a range of the actual system’s dynamics are furthermore shown.