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Determination of the cable span and cable deflection of cable-driven parallel robots

: Pott, Andreas

Preprint urn:nbn:de:0011-n-4615270 (1.0 MByte PDF)
MD5 Fingerprint: 26d9431ca32040d24222fe1c81e093d6
Erstellt am: 17.8.2017

Gosselin, Clément ; International Federation for the Promotion of Mechanism and Machine Science:
Cable-driven parallel robots : Proceedings of the Third International Conference on Cable-Driven Parallel Robots, August 2-4, 2017, Quebec City, Canada
Cham: Springer International Publishing, 2018 (Mechanisms and Machine Science 53)
ISBN: 978-3-319-61430-4 (Print)
ISBN: 978-3-319-61431-1 (Online)
ISBN: 3-319-61430-4
International Conference on Cable-Driven Parallel Robots (CableCon) <3, 2017, Quebec>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IPA ()
paralleler Seilroboter; Seilroboter; Arbeitsraum; Auslegung; Seilkollision; Entwurf

In this paper, a method is proposed to compute the so-called cable span, i.e. the space occupied by the cables when the robot is moving within its workspace. As the cables are attached to a mostly fixed point on the robot frame, the shape of the cable span is a generalized cone. We present an efficient method polar sorting to compute the surface of this cone. Furthermore, the found geometry of the cone is employed in the design of the cable anchor points in order to dimension its deflection capabilities and to compute a suitable orientation for the installation of the mechanical unit.