Simulation and Model-Based Verification of an Emergency Strategy for Cable Failure in Cable Robots

摘要

Cable failure is an extremely critical situation in the operation of cable-driven parallel robots (CDPR), as the robot might be instantly outside of its predefined workspace. Therefore, the calculation of a cable force distribution might fail and, thus, the controller might not be able to master the guidance of the system anymore. However, as long as there is a remaining set of cables, the dynamic behavior of the system can be influenced to prevent further damage, such as collisions with the ground. The paper presents a feasible algorithm, introduces the models for dynamical multi-body simulation and verifies the algorithm within control loop closure.