This paper presents a planning method to systematically determine a geometry for a cable-driven parallel robot (short: cable robot) that satisfies a given workspace requirement. Furthermore, the method should be suitable for a fast workspace planning during In-Operation-Reconfiguration which implies that the algorithm should be executable fast, i.e. the aim is a computation time below one second. To do so, firstly the theoretical backgrounds for kinematics and workspace analysis of cable robots are introduced. Based on that, the parameter restrictions are modelled in terms of continuous closed sets, which are later used as bounds during the planning process. Afterwards, the theoretical problem of reconfiguration is presented and the solution strategy is proposed. In order to evaluate the given method, in the last section an exemplary reconfiguration situation is investigated, which shows that the method is suitable for the purpose to determine a cable robot for a given workspace requirement.
%0 Conference Paper
%1 10.1007/978-3-030-75789-2_15
%A Trautwein, Felix
%A Reichenbach, Thomas
%A Pott, Andreas
%A Verl, Alexander
%B Cable-Driven Parallel Robots
%C Cham
%D 2021
%E Gouttefarde, Marc
%E Bruckmann, Tobias
%E Pott, Andreas
%I Springer International Publishing
%K cable-driven cable-robot reconfiguration xtn
%P 182--193
%R 10.1007/978-3-030-75789-2_15
%T Workspace Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots
%U https://doi.org/10.1007/978-3-030-75789-2_15
%X This paper presents a planning method to systematically determine a geometry for a cable-driven parallel robot (short: cable robot) that satisfies a given workspace requirement. Furthermore, the method should be suitable for a fast workspace planning during In-Operation-Reconfiguration which implies that the algorithm should be executable fast, i.e. the aim is a computation time below one second. To do so, firstly the theoretical backgrounds for kinematics and workspace analysis of cable robots are introduced. Based on that, the parameter restrictions are modelled in terms of continuous closed sets, which are later used as bounds during the planning process. Afterwards, the theoretical problem of reconfiguration is presented and the solution strategy is proposed. In order to evaluate the given method, in the last section an exemplary reconfiguration situation is investigated, which shows that the method is suitable for the purpose to determine a cable robot for a given workspace requirement.
%@ 978-3-030-75789-2
@inproceedings{10.1007/978-3-030-75789-2_15,
abstract = {This paper presents a planning method to systematically determine a geometry for a cable-driven parallel robot (short: cable robot) that satisfies a given workspace requirement. Furthermore, the method should be suitable for a fast workspace planning during In-Operation-Reconfiguration which implies that the algorithm should be executable fast, i.e. the aim is a computation time below one second. To do so, firstly the theoretical backgrounds for kinematics and workspace analysis of cable robots are introduced. Based on that, the parameter restrictions are modelled in terms of continuous closed sets, which are later used as bounds during the planning process. Afterwards, the theoretical problem of reconfiguration is presented and the solution strategy is proposed. In order to evaluate the given method, in the last section an exemplary reconfiguration situation is investigated, which shows that the method is suitable for the purpose to determine a cable robot for a given workspace requirement.},
added-at = {2021-07-13T09:09:26.000+0200},
address = {Cham},
author = {Trautwein, Felix and Reichenbach, Thomas and Pott, Andreas and Verl, Alexander},
biburl = {https://puma.ub.uni-stuttgart.de/bibtex/22a93bea9a46a83f027cbcbe9a141465f/isw-bibliothek},
booktitle = {Cable-Driven Parallel Robots},
doi = {10.1007/978-3-030-75789-2_15},
editor = {Gouttefarde, Marc and Bruckmann, Tobias and Pott, Andreas},
interhash = {c0f61f9c81a268629cfbb70f2d92aeac},
intrahash = {2a93bea9a46a83f027cbcbe9a141465f},
isbn = {978-3-030-75789-2},
keywords = {cable-driven cable-robot reconfiguration xtn},
pages = {182--193},
publisher = {Springer International Publishing},
timestamp = {2022-10-28T11:56:48.000+0200},
title = {Workspace Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots},
url = {https://doi.org/10.1007/978-3-030-75789-2_15},
year = 2021
}
