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.
CITATION STYLE
Berti, A., Gouttefarde, M., & Carricato, M. (2018). Dynamic Recovery of Cable-Suspended Parallel Robots After a Cable Failure. In Springer Proceedings in Advanced Robotics (Vol. 4, pp. 331–339). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-319-56802-7_35
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