Extending dynamic trajectories of cable-driven parallel robots as a novel robotic roller coaster

摘要

This paper covers the extension and control of dynamic trajectories for cable-driven parallel robots and measurement of their accuracy. At first theoretical background is given and the mathematical constructs to ensure that all cables are under tension for a suspended 3-cable cable-driven parallel robot. Then an insight into user friendly control method is given in which several different types of trajectories, straight line, elliptical and more complex 3-D trajectories are realized. The use case of a novel robotic rollercoaster is further analyzed to identify necessary technological developments. One important factor that needs to be reviewed is the aspect of ensuring safety.