This paper introduces the CableRobot simulator, which was developed at the Max Planck Institute for Biological Cybernetics in cooperation with the Fraunhofer Institute for Manufacturing Engineering and Automation IPA. The simulator is a completely novel approach to the design of motion simulation platforms in so far as it uses cables and winches for actuation instead of rigid links known from hexapod simulators. This approach allows to reduce the actuated mass, scale up the workspace significantly, and provides great flexibility to switch between system configurations in which the robot can be operated. The simulator will be used for studies in the field of human perception research and virtual reality applications. The paper provides a system overview regarding kinematics and system dynamics as well as giving a brief introduction into possible application use cases.
%0 Conference Paper
%1 Miermeister2016
%A Miermeister, Philipp
%A Lächele, Maria
%A Boss, Rainer
%A Masone, Carlo
%A Schenk, Christian
%A Tesch, Joachim
%A Kerger, Michael
%A Teufel, Harald
%A Pott, Andreas
%A Bulthoff, Heinrich H.
%B IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
%D 2016
%K Import180214 imported
%P 3024--3029
%T The CableRobot Simulator: Large Scale Motion Platform Based on Cable Robot Technology
%X This paper introduces the CableRobot simulator, which was developed at the Max Planck Institute for Biological Cybernetics in cooperation with the Fraunhofer Institute for Manufacturing Engineering and Automation IPA. The simulator is a completely novel approach to the design of motion simulation platforms in so far as it uses cables and winches for actuation instead of rigid links known from hexapod simulators. This approach allows to reduce the actuated mass, scale up the workspace significantly, and provides great flexibility to switch between system configurations in which the robot can be operated. The simulator will be used for studies in the field of human perception research and virtual reality applications. The paper provides a system overview regarding kinematics and system dynamics as well as giving a brief introduction into possible application use cases.
@inproceedings{Miermeister2016,
abstract = {This paper introduces the CableRobot simulator, which was developed at the Max Planck Institute for Biological Cybernetics in cooperation with the Fraunhofer Institute for Manufacturing Engineering and Automation IPA. The simulator is a completely novel approach to the design of motion simulation platforms in so far as it uses cables and winches for actuation instead of rigid links known from hexapod simulators. This approach allows to reduce the actuated mass, scale up the workspace significantly, and provides great flexibility to switch between system configurations in which the robot can be operated. The simulator will be used for studies in the field of human perception research and virtual reality applications. The paper provides a system overview regarding kinematics and system dynamics as well as giving a brief introduction into possible application use cases.},
added-at = {2018-02-14T08:37:06.000+0100},
author = {Miermeister, Philipp and L{\"a}chele, Maria and Boss, Rainer and Masone, Carlo and Schenk, Christian and Tesch, Joachim and Kerger, Michael and Teufel, Harald and Pott, Andreas and Bulthoff, Heinrich H.},
biburl = {https://puma.ub.uni-stuttgart.de/bibtex/220c408d6dd6ce90a1ebb004dc8ac4145/andreaspott},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
interhash = {61c6562a35e608d000bc6d37dec6f7f5},
intrahash = {20c408d6dd6ce90a1ebb004dc8ac4145},
keywords = {Import180214 imported},
pages = {3024--3029},
timestamp = {2018-02-14T07:44:34.000+0100},
title = {The CableRobot Simulator: Large Scale Motion Platform Based on Cable Robot Technology},
year = 2016
}
