Redundancy resolution of redundantly actuated cable-driven parallel robots (CDPRs) requires the computation feasible and continuous cable tension distributions along a trajectory. This paper focuses on n-DOF CDPRs driven by n + 2 cables, since, for = 6, these are relevant in many applications. The set tensions (n 2)-cable is 2-D convex polygon. An algorithm that determines vertices this polygon clockwise or counterclockwise order first introduced. efficient can deal with infeasibility. It...

Tendon-based parallel manipulators with n d.o.f. use at least m = + 1 tendons to guide the end effector along a given trajectory. Since can only transmit limited and tractive forces, it is essential apply valid tendon force distribution. Due safety precision requirements, combined position control needed where calculation delivers desired distributions. The high dynamic potential of robot demands for realtime capable algorithms. To avoid steps in motor torques calculated tension...

This article studies the trajectory planning for underactuated cable-driven parallel robots (CDPRs) in case of rest-to-rest motions, when both motion time and path geometry are prescribed. For manipulators, it is possible to prescribe a control law only subset generalized coordinates system. However, if an arbitrary prescribed suitable these coordinates, constraint deficiency on end-effector leads impossibility bringing system at rest time. In addition, behavior may not be stable, that is,...

Changes in products, markets and technologies influence the development process its approaches. The V-Model of VDI 2206 from 2004 is an important basis for industrial application mechatronic product development. This paper shows which changes need to be integrated into updated areas focused topics have changed prepared future challenges. For this purpose, existing applied models are analyzed rework elaborated.

Automated Construction of Masonry Buildings using Cable-Driven Parallel Robots T. Bruckmann, H. Mattern, A. Spenglerc, C. Reichert, Malkwitz and M. König Pages 332-340 (2016 Proceedings the 33rd ISARC, Auburn, USA, ISBN 978-1-5108-2992-3, ISSN 2413-5844) Abstract: This paper presents an approach cable-driven parallel robots for automated construction. buildings are considered as appropriate application case due to repetitive construction procedures, high demands on quality well accuracy...

The Unified Modeling Language (UML) is the standard to specify structure and behaviour of software systems. created models are a constitutive part specification that serves as guideline for implementation test In order verify functionality which defined within documents, domain experts need perform an acceptance test. Hence, they have generate cases Since usually low level engineering knowledge, case generation process challenging error-prone. this paper we propose approach high-level plans...

Intralogistics systems are a rapidly growing market. Today, high racks and automated storage retrieval machines widely used to store handle industrial goods. Conventional show major drawback: While the containers or goods be moved often very lightweight, machine itself may weight up two tons which limits energy efficiency motion capabilities. This limitation is problem since reduction of cycle times crucial in logistics applications. Therefore, faster motions desired. At same time, main...

Completely and redundantly restraint tendon-based Stewart platforms demand for an appropriate distribution of tendon forces to control the platform on a given trajectory. Thus, position has be extended by force controller which generates continuous feasible values. The computation such distributions can formulated as constrained optimization problem. Solving problem is numerically expensive requires algorithm capable integrated into realtime environment. In this paper, new calculations usage...

Models become increasingly important for software development processes. Though there is a multitude of modeling tools available, the handling complex UML diagrams still difficult. In particular, visualization global overview and logical interrelationships between certain elements arising from refinements can be improved. We address these problems propose usage semantic zooming with different levels detail describe intuitive interaction techniques to ease navigation in models.

Automated Storage/Retrieval Systems (AS/RS) are computer-controlled material handling systems that can automatically store and retrieve loads with high throughput. In this work, we estimate important design parameters for a newly designed storage/retrieval (SGP-AS/RS) machine based on the specific input details to come up an optimized solution. The new system is cable- driven parallel manipulator (or wire robot) technology similar Stewart-Gough platform architecture. For reliability of such...