Abstract
This paper studies how emergencies and failures can be managed in cable-driven parallel robots, in particular in the case of a redundant cable-suspended robot subjected to a cable breakdown. The objective is to present and test via numerical simulation the feasibility of an emergency strategy that allows the robot platform to be dynamically recovered to a safe position. Preliminary results, based on a simplified robot with a point-mass platform suspended by 4 cables, show that the proposed strategy may be an effective way to guide the platform from an unstable pose determined by the cable failure to a new static equilibrium pose.
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Acknowledgements
This work was supported by Italian Ministry of Education, Universities and Research by the PRIN grant No. 20124SMZ88.
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Berti, A., Gouttefarde, M., Carricato, M. (2018). Dynamic Recovery of Cable-Suspended Parallel Robots After a Cable Failure. In: Lenarčič, J., Merlet, JP. (eds) Advances in Robot Kinematics 2016. Springer Proceedings in Advanced Robotics, vol 4. Springer, Cham. https://doi.org/10.1007/978-3-319-56802-7_35
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DOI: https://doi.org/10.1007/978-3-319-56802-7_35
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