Roland Boumann

University of Duisburg-Essen | uni-due

Robotic manipulators play an important role in space exploration and pave the way for satellite lifetime extensions, orbital asset inspections, and deorbiting. However, space robots are tested in Earth’s gravity although they are designed for zero gravity. The joints are limited in the torque which might be below of what is necessary to move on gro...

This work describes the experimental validation of emergency strategies for cable-driven parallel robots after a cable failure. In previous work of the authors, two strategies have been introduced and verified within simulation. One strategy is based on the minimization of the robots kinetic energy, while the other strategy utilizes potential field...

As automated construction processes require large workspaces and high payloads, the use of cables is a reasonable approach to span wide distances and share loads. Therefore, a cable-driven parallel robot is a suitable choice for automated masonry construction. Another possible robotic system for this task consists of a set of cooperative drones, ea...

This paper outlines an important step in characterizing a novel field of robotic construction research where a cable-driven parallel robot is used to extrude cementitious material in three-dimensional space, and thus offering a comprehensive new approach to computational design and construction, and to robotic fabrication at larger scales. Develope...

At German universities, recent semesters have seen a significant move towards the digitalization of summative assessments. This development is in part due to the COVID19 pandemic, which presented a number of challenges with respect to classical exams. In particular, many universities have introduced the possibility of online exams for the very firs...

Cable failure is an extremely critical situation in the operation of cable-driven parallel robots (CDPR), as the robot might be instantly outside of its predefined workspace. Therefore, the calculation of a cable force distribution might fail and, thus, the controller might not be able to master the guidance of the system anymore. However, as long...

A cable-driven parallel robot for automated masonry construction is currently under development. Besides the mechatronic design and component engineering, a simulation framework has been realized to optimize the cable robot motions with respect to technical and economic requirements, which supports both the prediction of the potential and limitatio...

This paper investigates cable failure and an emergency strategy for reconfigurable cable-driven parallel robots (CDPRs). Reconfiguration of CDPRs is a key feature to avoid collisions, which is currently applied e.g. in prototypes for automated construction tasks. This paper proposes to utilize this ability within an emergency strategy based on mini...

Seilroboter stellen einen innovativen und vielversprechenden Ansatz bei der Digitalisierung und Automatisierung im Mauerwerksbau dar. Zudem verfügen sie über das Potenzial, die Verarbeitung von Mauersteinen zu revolutionieren. Denn der Einsatz von Seilrobotern eröffnet die Möglichkeit, große Bauvolumina auch bei komplexen Geometrien und reduziertem...

Under special circumstances, a cable-driven parallel robot (CDPR) may leave its wrench-feasible-workspace. Standard approaches for the computation of set-point cable forces are likely to fail in this case. The novel nearest corner method for calculating appropriate cable forces when the CDPR is outside of its wrench-feasible-workspace was introduce...

A cable-driven parallel robot (CDPR) can get outside of its wrench-feasible workspace in special situations, e.g. haptics applications or when a cable break occurs. In this case, the standard approaches for the computation of set forces for the cable robot are likely to fail. This calls out for methods to obtain appropriate cable forces for a desir...

This paper investigates cable breaks of a cable-driven parallel robot and proposes emergency strategies to recover the payload. A simulation model of a simplified two dimensional robot is set up and the workspace of the robot is analyzed before and after a cable break. Two methods are proposed for dealing with the issue of guiding the end effector...