Design and Programming for Cable-Driven Parallel Robots in the German Pavilion at the EXPO 2015

Machines

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

【 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.