Failure Analysis of a Collaborative 4-1 Cable-Driven Parallel Robot

Caro, S. and Merlet, J.P., “Failure Analysis of a Collaborative 4-1 Cable-Driven Parallel Robot”, Proceedings of the 8th European Conference on Mechanism Science (EuCoMeS2020), Cluj-Napoca, Romania, September 7–10, 2020Cable-Driven Parallel Robots (CDPRs) have been little used so far for collaborative tasks with humans. One reason is the lack of solutions to guarantee the safety of the operators in case of failure. Therefore, this paper aims to determine the possible failures of CDPRs when they are used for collaborative work with humans and to provide technical solutions to ensure the safety of the operators. A translational three degrees-of-freedom CDPR composed of four cables connected to a point-mass end-effector is considered as an illustrative example. The cables are supposed to be ideal, namely, they are not elastic and do not exhibit sagging

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

International audienceThis 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

A strategy for moving cable driven robots safely in case of cable failure

none3nononeBoschetti, Giovanni; Passarini, Chiara; Trevisani, AlbertoBoschetti, Giovanni; Passarini, Chiara; Trevisani, Albert

The multidisciplinary International Virtual Design Studio (MIVDS)

The International Virtual Design Studio (MIVDS) that was originated between the Departments of Mechanical Engineering of Union College (UC) and the Middle East Technical University (METU) is now extended to include the Mechanical Engineering Department at Queen's University in Canada, the Computer Systems Engineering/Electrical Engineering Department at UC, and the Electrical/Electronics Engineering Department of METU, The design teams that participate in this project are composed of various combinations of mechanical, electrical, and computer systems engineering students, Design project topics are selected to cover mechatronic concepts that force students toward mechatronic design solutions, After gears of experience, it is now possible to draw some conclusions and report on the concept and implementation of the multidisciplinary IVDS (MIVDS) project. One important conclusion is that a strong combination of institutional support and multidisciplinary faculty commitment is required for project initiation. Success in MIVDS is highly dependent on well-defined project specifications, a single source of project information, incentives for students to participate, travel to participating countries, a balanced team structure, common design and productivity tools, 24-hour access to MIVDS facilities, and participation by all students in the manufacturing phase of the project