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

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.

Geometric Parameter Calibration for a Cable-Driven Parallel Robot Based on a Single One-Dimensional Laser Distance Sensor Measurement and Experimental Modeling

“…The cable robot has advantages of large workspace and heavy payload ability in comparison with conventional parallel robots in industrial applications owing to its easy remounting, convenient transportation, and the low-inertia benefits of the actuator and EE [ 1 , 2 , 3 ]. Hence, many attempts have been executed to widen the cable robot applications such as the SkyCam [ 4 ], the Cablecam [ 5 ], a demonstrator in the German Pavilion at the EXPO 2015 [ 6 ], a high-payload transportation system [ 7 ], and a large-workspace motion simulator [ 8 ].…”

ROMANSY 21 - Robot Design, Dynamics and Control

“…Such cable robot applications can be found in many different fields. 2) mimicking the eyeballs of a bee showing its vision flying over Germany was implemented by Tempel et al (2015b). 1 Technical rendering of the cable robot IPAnema 1 by Fraunhofer IPA Pott et al (2013) matches, is a good example for cable robot technology in use.…”

On the Dynamics and Emergency Stop Behavior of Cable-Driven Parallel Robots

“…To meet the requirement of operating the mobile platforms above the audience, additional safety measurements were implemented both for off-line trajectory programming introduced in Tempel et al (2015b) as well as on-site. On site, monitoring of cable tension and velocities was performed and checked against pre-computed limits stored inside a lookup table.…”

“…Most of the research on cable robots focuses on improving the kinematics, such as by introducing pulleys for guidance by Bruckmann et al (2008) or considering cable mass Kozak et al (2004). Other research focuses on the workspace analysis (e.g., Verhoeven 2004) or general application-driven design (e.g., Tempel et al 2015b).…”

“…Lastly, in the German Pavilion at EXPO 2015 Universal Exposition hosted in Milan, Italy, two cable robots (see Fig. 2) mimicking the eyeballs of a bee showing its vision flying over Germany was implemented by Tempel et al (2015b).…”