期刊论文详细信息
Machines
Design and Programming for Cable-Driven Parallel Robots in the German Pavilion at the EXPO 2015
Philipp Tempel2  Fabian Schnelle1  Andreas Pott2  Peter Eberhard1 
[1] Institute of Engineering and Computational Mechanics, University of Stuttgart, Pfaffenwaldring 9, 70569 Stuttgart, Germany; E-Mail:;Institute for Control Engineering of Machine Tools and Manufacturing Units, University of Stuttgart, Seidenstr. 36, 70174 Stuttgart, Germany; E-Mails:
关键词: cable-driven parallel robots;    path planning;    EXPO 2015;   
DOI  :  10.3390/machines3030223
来源: mdpi
PDF
【 摘 要 】

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.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.

【 预 览 】
附件列表
Files Size Format View
RO202003190007295ZK.pdf 2198KB PDF download
  文献评价指标  
  下载次数:2次 浏览次数:3次