Development of Emergency Strategies for Cable-Driven Parallel Robots after a Cable Break
作者： Roland Boumann , Tobias Bruckmann
DOI: 10.1007/978-3-030-20751-9_23
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摘要: This paper investigates cable breaks of a cable-driven parallel robot and proposes emergency strategies to recover the payload. A simulation model simplified two dimensional is set up workspace analyzed before after break. Two methods are proposed for dealing with issue guiding end effector into remaining stop system: An approach minimize kinetic energy system made as well use potential fields in combination method calculating reasonable force distributions outside wrench feasible workspace. Both tested results presented.
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sci-hub.st 参考文章(13)
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