Cablebot, Developing and evaluating cable robots customised for the automation in large-scale auxiliary processes

Developing and evaluating cable robots customised for the automation in large-scale auxiliary processes
Imagen about Cablebot



The Chair of Mechatronics at the University of Duisburg-Essen has been founded in 1991 as the first chair for mechatronics at a german University. It is today part of the Faculty of Engineering Sciences at the University of Duisburg-Essen.

Research, development and education are dedicated to three main fields in mechatronics:

- applications in the field of non-classical robotics, especially in the domain of parallel and wire-based manipulators

- basic research, mainly related to the development of algorithms and software for modeling and simulation of mechatronic systems;

- applications in the field of automotive systems in close collaboration with industry;

In the field of robotics, the focus in the lab is on large-scale manipulation systems for heavy loads, with applications in agriculture, construction and mining, on mobile robots, large-scale walking machines for the same fields of application and parallel kinematic machines.

In automotive applications the Chair of Mechatronics works in the field of active safety systems like ABS (Anti-Blockier-System; Anti-Lock-Braking-System), ASR (Antriebs-Schlupf-Regelung; Drive-Slide-Control), ESP (Electronic-Stability-Program), or ACC (Adaptive-Cruise-Control), but also passive safety concepts like smart restraint systems for the passenger protection in critical ride situations.

Traditionally, the Chair of Mechatronics works in close collaboration with other universities, University of Cluj-Napoca (Romania), University of Stuttgart, University of Arizona (USA), and University of Miskolc (Hungary) and is meanwhile coordinator of the bilateral Hungarian-German research base in the domain of mechatronics (HuGe-RB).

Additionally, industrial partners like BMW, Ford, Bosch, Porsche, Daimler, TRW, Schwing etc. are involved in different research topics.

One of the main topics is the research on parallel kinematic machines – actuated by cylinders or cables – to be applied in machine tools, telescopes, or sensor testing devices. This research on parallel robots includes theoretical kinematics, workspace analysis, dimensional synthesis, and development of control algorithms. Since 1998, the Chair of Mechatronics is involved in tendon-based Stewart-platform research (DFG-projects SEGESTA and ARTIST) where the special aspects of wire robots like workspace determination, performance analysis, forward kinematics and design are investigated. For validation of the theoretical work, a testbed of a spatial 6 d.o.f. parallel wire-robot was built. Presently, the research focuses on the practical implementation of an advanced comprehensive control system including user interface and tendon force control under realtime conditions.

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