Extending Dynamic Trajectories of Cable-Driven Parallel Robots as a Novel Robotic Roller Coaster

Inhalt:
This paper covers the extension and control of dynamic trajectories for cable-driven parallel robots and measurement of their accuracy. At first a theoretical background is given and themathematical constructs to ensure that all cables can are under tension for a suspended 3-cable cable-driven parallel robot. Then an insight into a 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.