A Simulative Study on Model-Based Emergency Strategies for Damage Prevention After Cable Breaks in Cable-Driven Parallel Robots

This study investigates model-based emergency strategies for damage prevention following cable breaks in six-degree-of-freedom cable-driven parallel robots. By relaxing real-time constraints, the empirical performance limit of existing and novel recovery approaches is assessed through comprehensive simulations of the SEGESTA prototype. While extending prediction horizons improves recovery, it induces excessive computational loads. A hybrid approach combining State-of-the-Art approaches emerges as the optimal compromise, preserving high success rates while reducing calculation time and enabling active obstacle avoidance. Furthermore, a time-to-crash analysis after cable breaks demonstrates that the physical CDPR design fundamentally influences post-failure dynamics and could lead to narrow time windows for recovery approaches. Consequently, model-based emergency strategies are approaching their limits. Future research must overcome this by synergizing data-driven control paradigms with structurally fault-tolerant robot designs to ensure robust, real-time damage prevention after cable breaks.