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Book Sections Year : 2018

Dynamic Recovery of Cable-Suspended Parallel Robots After a Cable Failure

Abstract

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.

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lirmm-01830286 , version 1 (04-07-2018)

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Berti Allessando, Marc Gouttefarde, Marco Carricato. Dynamic Recovery of Cable-Suspended Parallel Robots After a Cable Failure. Advances in Robot Kinematics 2016, 4, , pp.331-339, 2018, Springer Proceedings in Advanced Robotics (SPAR), 978-3-319-56801-0. ⟨10.1007/978-3-319-56802-7_35⟩. ⟨lirmm-01830286⟩
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