Machines 2015, 3(3), 223-241; https://doi.org/10.3390/machines3030223
Design and Programming for Cable-Driven Parallel Robots in the German Pavilion at the EXPO 2015
1
Institute for Control Engineering of Machine Tools and Manufacturing Units, University of Stuttgart, Seidenstr. 36, 70174 Stuttgart, Germany
2
Institute of Engineering and Computational Mechanics, University of Stuttgart, Pfaffenwaldring 9, 70569 Stuttgart, Germany
*
Author to whom correspondence should be addressed.
Academic Editor: Yoshiaki Terumichi
Received: 24 June 2015 / Revised: 16 July 2015 / Accepted: 11 August 2015 / Published: 25 August 2015
(This article belongs to the Special Issue Advance in Multibody System Dynamics)
Abstract
In the German Pavilion at the EXPO 2015, two large cable-driven parallel robots are flying over the heads of the visitors representing two bees flying over Germany and displaying everyday life in Germany. Each robot consists of a mobile platform and eight cables suspended by winches and follows a desired trajectory, which needs to be computed in advance taking technical limitations, safety considerations and visual aspects into account. In this paper, a path planning software is presented, which includes the design process from developing a robot design and workspace estimation via planning complex trajectories considering technical limitations through to exporting a complete show. For a test trajectory, simulation results are given, which display the relevant trajectories and cable force distributions. View Full-TextKeywords:
cable-driven parallel robots; path planning; EXPO 2015
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Tempel, P.; Schnelle, F.; Pott, A.; Eberhard, P. Design and Programming for Cable-Driven Parallel Robots in the German Pavilion at the EXPO 2015. Machines 2015, 3, 223-241.
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