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Extending dynamic trajectories of cable-driven parallel robots as a novel robotic roller coaster

 
: Schmidt, Valentin

:
Volltext urn:nbn:de:0011-n-2985161 (1.1 MByte PDF)
MD5 Fingerprint: 7a2a28744834b4e22709baa5c5aa8930
Erstellt am: 5.8.2014


Verband Deutscher Elektrotechniker e.V. -VDE-, Berlin:
ISR/Robotik 2014, Joint Conference of 45th International Symposium on Robotics and 8th German Conference on Robotics. Proceedings. CD-ROM : 2 -3 June 2014, Munich, Germany, parallel to AUTOMATICA
Berlin: VDE-Verlag, 2014
ISBN: 978-3-8007-3601-0
S.367-373
International Symposium on Robotics (ISR) <45, 2014, Munich>
German Conference on Robotics (ROBOTIK) <8, 2014, Munich>
Englisch
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IPA ()
paralleler Seilroboter; Seilroboter; Parallelroboter; cable-driven parallel robot; Achterbahn; Roboter; Trajektorie; Dynamik; Genauigkeit; Sicherheit

Abstract
This paper covers the extension and control of dynamic trajectories for cable-driven parallel robots and measurement of their accuracy. At first theoretical background is given and the mathematical constructs to ensure that all cables are under tension for a suspended 3-cable cable-driven parallel robot. Then an insight into user friendly control method is given in which several different types of trajectories, straight line, elliptical and more complex 3-D trajectories are realized. The use case of a novel robotic rollercoaster is further analyzed to identify necessary technological developments. One important factor that needs to be reviewed is the aspect of ensuring safety.

: http://publica.fraunhofer.de/dokumente/N-298516.html