Fraunhofer-Gesellschaft

Publica

Hier finden Sie wissenschaftliche Publikationen aus den Fraunhofer-Instituten.

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

:
Volltext urn:nbn:de:0011-n-3664438 (2.1 MByte PDF)
MD5 Fingerprint: 5adac7df1115494a5d425ee8594a3563
(CC) by
Erstellt am: 28.11.2015


Machines 3 (2015), Nr.3, S.223-241
ISSN: 2075-1702
Englisch
Zeitschriftenaufsatz, Elektronische Publikation
Fraunhofer IPA ()
ISW; cable-driven parallel robot; path planning; Bahnplanung

Abstract
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.

: http://publica.fraunhofer.de/dokumente/N-366443.html