Detection and Management of Human-Cable Collision in Cable-Driven Parallel Robots

摘要

This letter discusses the challenges and innovations in collision detection and management strategies for Cable-Driven Parallel Robots (CDPRs), focusing on enhancing safety in human-robot collaborative environments. A comprehensive collision management method is introduced. It integrates a novel method to detect collisions and identify the collided cable, leveraging tension sensor data and algorithmic strategies to improve accuracy and response to collision events. Adaptive management strategies for different collision severities, including minor and severe contacts, are presented, along with procedures for post-collision management. The methodologies are validated through experimentation with the CRAFT prototype, demonstrating their practical effectiveness. The findings have significant implications for the design and implementation of safety protocols in CDPRs.