On the Dynamics and Emergency Stop Behavior of Cable-Driven Parallel Robots
Philipp Tempel, Alexander Verl and Andreas Pott
ROMANSY 21: Proceedings of the 21st CISM-IFToMM Symposium 01/2016Conference paper
Abstract
High dynamics of cable-driven parallel robots are beneficial to their use, however, the behavior of such robots during extreme maneuvers is yet to be investigated. In this paper, a simulation model is presented and validated in order to assess the emergency stop behavior of cable robots by simulation. Simulation results are evaluated using spectral analysis and validated against experimental data of a medium-sized redundantly restrained cable robot. The correctness and limitations of the model’s accuracy in a range of the actual system’s dynamics are furthermore shown.