Abstract
Under special circumstances, a cable-driven parallel robot (CDPR) may leave its wrench-feasible-workspace. Standard approaches for the computation of set-point cable forces are likely to fail in this case. The novel nearest corner method for calculating appropriate cable forces when the CDPR is outside of its wrench-feasible-workspace was introduced in former work of the authors. The obtained cable force distributions aim at continuity and generate wrenches close to the desired values. The method employs geometrical operations in the cable force space and promises real-time usability because of its non-iterative structure. In a simplified simulation, a cable break scenario was used to carry out more detailed testing of the method regarding different parameters, a higher number of cables, and the numerical efficiency. A brief discussion about the continuity of the method when entering the wrench-feasible-workspace is presented.
Highlights
Cable-driven parallel robots (CDPR) are in the focus of current research [1,2] and are starting to make their way into industrial applications, see e.g., [3]
In former work of the authors, an example of a post cable break rescue scenario for testing the proposed method was used, which was applied in the following
If the preceding feasibility check is carried out using a cable force calculation method that covers the full workspace as e.g., the barycentric method [18] or the improved closed form [21], a solution is found as long as it exists
Summary
Cable-driven parallel robots (CDPR) are in the focus of current research [1,2] and are starting to make their way into industrial applications, see e.g., [3]. Such a robot is driven by cables, which are coiled on computerized winches and attached to an end-effector, following the kinematic structure of a Stewart–Gough platform. This allows for immensely large workspaces, as the cables can be prolonged . The wrench-feasible workspace W F W includes all end-effector poses, where a desired wrench w at the platform can be produced by a set of cable forces f within defined boundaries [4]
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