PUMA publications for /tag/kinematicshttps://puma.ub.uni-stuttgart.de/tag/kinematicsPUMA RSS feed for /tag/kinematics2024-03-29T06:34:04+01:00Form-finding of Nature Inspires Kinematics for Pliable Structures.https://puma.ub.uni-stuttgart.de/bibtex/2d8c972136ebad619567a3dca8fc5fe9c/itkeitke2020-05-22T14:24:19+02:00biomimetic nature speck knippers kinematics 2010 poppinga structure itke lienhard from:petraheim schleicher inspires form-finding pliable architecture <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Julian Lienhard" itemprop="url" href="/person/1964157c03cb646708eaa7e3f119267c3/author/0"><span itemprop="name">J. Lienhard</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Simon Schleicher" itemprop="url" href="/person/1964157c03cb646708eaa7e3f119267c3/author/1"><span itemprop="name">S. Schleicher</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Jan Knippers" itemprop="url" href="/person/1964157c03cb646708eaa7e3f119267c3/author/2"><span itemprop="name">J. Knippers</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Thomas Speck" itemprop="url" href="/person/1964157c03cb646708eaa7e3f119267c3/author/3"><span itemprop="name">T. Speck</span></a></span>, </span> and <span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Simon Poppinga" itemprop="url" href="/person/1964157c03cb646708eaa7e3f119267c3/author/4"><span itemprop="name">S. Poppinga</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/Book" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="name">Proceedings of the International Symposium of the International Association of Shell and Spatial Structures (IASS), Spatial Structures Temporary and Permanent</span>, </em></span><em>Shanghai, China, </em>(<em><span>2010<meta content="2010" itemprop="datePublished"/></span></em>)</span>Fri May 22 14:24:19 CEST 2020Shanghai, ChinaProceedings of the International Symposium of the International Association of Shell and Spatial Structures (IASS), Spatial Structures Temporary and PermanentForm-finding of Nature Inspires Kinematics for Pliable Structures.2010biomimetic nature speck knippers kinematics 2010 poppinga structure itke lienhard from:petraheim schleicher inspires form-finding pliable architecture Form-finding of Nature Inspires Kinematics for Pliable Structures.https://puma.ub.uni-stuttgart.de/bibtex/2d8c972136ebad619567a3dca8fc5fe9c/petraheimpetraheim2020-05-18T09:13:12+02:002010 architecture biomimetic form-finding inspires itke kinematics knippers lienhard nature pliable poppinga schleicher speck structure <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Julian Lienhard" itemprop="url" href="/person/1964157c03cb646708eaa7e3f119267c3/author/0"><span itemprop="name">J. Lienhard</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Simon Schleicher" itemprop="url" href="/person/1964157c03cb646708eaa7e3f119267c3/author/1"><span itemprop="name">S. Schleicher</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Jan Knippers" itemprop="url" href="/person/1964157c03cb646708eaa7e3f119267c3/author/2"><span itemprop="name">J. Knippers</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Thomas Speck" itemprop="url" href="/person/1964157c03cb646708eaa7e3f119267c3/author/3"><span itemprop="name">T. Speck</span></a></span>, </span> and <span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Simon Poppinga" itemprop="url" href="/person/1964157c03cb646708eaa7e3f119267c3/author/4"><span itemprop="name">S. Poppinga</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/Book" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="name">Proceedings of the International Symposium of the International Association of Shell and Spatial Structures (IASS), Spatial Structures Temporary and Permanent</span>, </em></span><em>Shanghai, China, </em>(<em><span>2010<meta content="2010" itemprop="datePublished"/></span></em>)</span>Mon May 18 09:13:12 CEST 2020Shanghai, ChinaProceedings of the International Symposium of the International Association of Shell and Spatial Structures (IASS), Spatial Structures Temporary and PermanentForm-finding of Nature Inspires Kinematics for Pliable Structures.20102010 architecture biomimetic form-finding inspires itke kinematics knippers lienhard nature pliable poppinga schleicher speck structure Modeling of Elastic-Flexible Cables with Time-Varying Length for Cable-Driven Parallel Robotsjhttps://puma.ub.uni-stuttgart.de/bibtex/2290e83f7679a56cea357e23a63fcd3b7/philipptempelphilipptempel2019-01-26T14:43:22+01:00cable-driven cable-robot dynamics kinematics modeling multibody preprint simulation <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Philipp Tempel" itemprop="url" href="/person/10235a16817121cee31189d399dc61d09/author/0"><span itemprop="name">P. Tempel</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Dongwon Lee" itemprop="url" href="/person/10235a16817121cee31189d399dc61d09/author/1"><span itemprop="name">D. Lee</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Felix Trautwein" itemprop="url" href="/person/10235a16817121cee31189d399dc61d09/author/2"><span itemprop="name">F. Trautwein</span></a></span>, </span> and <span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Andreas Pott" itemprop="url" href="/person/10235a16817121cee31189d399dc61d09/author/3"><span itemprop="name">A. Pott</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/Book" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="name">Proceedings of the Fourth International Conference on Cable-Driven Parallel Robots</span>, </em></span><em><span itemprop="publisher">Springer Switzerland</span>, </em>(<em><span>2019<meta content="2019" itemprop="datePublished"/></span></em>)<em>submitteed.</em></span>Sat Jan 26 14:43:22 CET 2019Proceedings of the Fourth International Conference on Cable-Driven Parallel RobotssubmittedsubmitteedAdvances in Mechanism and Machine ScienceModeling of Elastic-Flexible Cables with Time-Varying Length for Cable-Driven Parallel Robotsjsubmitted2019cable-driven cable-robot dynamics kinematics modeling multibody preprint simulation Application of the Rigid Finite Element Method to the Simulation of Cable-Driven Parallel Robotshttps://puma.ub.uni-stuttgart.de/bibtex/2afbeb774b711addf7faa7210fe1476eb/isw-bibliothekisw-bibliothek2017-08-16T08:34:15+02:00cable-driven cdpr dynamics isw kinematics pn3-7 robot simulation <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Philipp Tempel" itemprop="url" href="/person/16945a2d15bee3ba2b44d19cc74a1812e/author/0"><span itemprop="name">P. Tempel</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Andreas Schmidt" itemprop="url" href="/person/16945a2d15bee3ba2b44d19cc74a1812e/author/1"><span itemprop="name">A. Schmidt</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Bernard Haasdonk" itemprop="url" href="/person/16945a2d15bee3ba2b44d19cc74a1812e/author/2"><span itemprop="name">B. Haasdonk</span></a></span>, </span> and <span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Andreas Pott" itemprop="url" href="/person/16945a2d15bee3ba2b44d19cc74a1812e/author/3"><span itemprop="name">A. Pott</span></a></span></span>. </span><span class="additional-entrytype-information"><em>volume Mechanisms and Machine Science of Mechanisms and Machine Science, </em><em>page <span itemprop="pagination">198--205</span>. </em><em><span itemprop="publisher">Springer International Publishing</span>, </em><em>Cham, </em><span itemtype="http://schema.org/Book" itemscope="itemscope" itemprop="isPartOf"></span>(<em><span>2018<meta content="2018" itemprop="datePublished"/></span></em>)</span>Wed Aug 16 08:34:15 CEST 2017ChamComputational Kinematics: Proceedings of the 7th International Workshop on Computational Kinematics that was held at Futuroscope-Poitiers, France, in May 201750198--205Mechanisms and Machine ScienceApplication of the Rigid Finite Element Method to the Simulation of Cable-Driven Parallel RobotsPublicationMechanisms and Machine Science2018cable-driven cdpr dynamics isw kinematics pn3-7 robot simulation Kinematics and dynamics of cable-driven parallel robots are affected by the cables used as force and motion transmitting elements. Flexural rigidity of these cables is of major interest to better understand dynamics of these systems and to improve their accuracy. The approach for modeling spatial cable dynamics, as presented in this paper, is based on the modified rigid-finite element method using rigid bodies and spring-damper elements. With this, a simulation of a planar 3 degrees of freedom cable-driven parallel robot is constructed as a multi-body dynamics model. Under consideration of holonomic constraints and Baumgarte stabilization, a simulation framework for the simulation of cable-driven parallel robots including dynamics of the cables is developed and presented.Kinematics and Dynamics Modeling for Real-Time Simulation of the Cable-Driven Parallel Robot IPAnema 3https://puma.ub.uni-stuttgart.de/bibtex/2a548f40a68a487e59ca8a2324a074462/isw-bibliothekisw-bibliothek2016-03-09T11:44:36+01:00cable-driven cable-robot cdpr dynamics isw isw-2015 kinematics modeling pn3-7 <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Philipp Tempel" itemprop="url" href="/person/141c9eb2026b6b2316d264b040956d509/author/0"><span itemprop="name">P. Tempel</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Philipp Miermeister" itemprop="url" href="/person/141c9eb2026b6b2316d264b040956d509/author/1"><span itemprop="name">P. Miermeister</span></a></span>, </span> and <span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Andreas Pott" itemprop="url" href="/person/141c9eb2026b6b2316d264b040956d509/author/2"><span itemprop="name">A. Pott</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/PublicationIssue" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="journal">Proceedings of the 14th IFToMM World Congress</span>, </em> </span>(<em><span>October 2015<meta content="October 2015" itemprop="datePublished"/></span></em>)</span>Wed Mar 09 11:44:36 CET 2016Proceedings of the 14th IFToMM World Congressoct14th-2117-123Kinematics and Dynamics Modeling for Real-Time Simulation of the Cable-Driven Parallel Robot IPAnema 32015cable-driven cable-robot cdpr dynamics isw isw-2015 kinematics modeling pn3-7 In this paper, the kinematics and dynamics modeling of the mechatronic model for a 6 DOF cable-driven parallel robot are covered and a real-time capable simulation model for such robots is derived. The governing equations of motion of the mobile platform are acquired using Newton-Euler formalism, furthermore, the pulley kinematics of the winches and a spring-damper based cable model are introduced. Once the equations of motion are derived, closed-form force distribution is implemented and simulation results of the real-time capable model for the cable-driven parallel robot IPAnema 3 is presented. Given the real-time capability, the established model can be used for hardware-in-the-loop simulation or controller design, but also for case studies of highly dynamic or large-scale robots.Modelling of Kinematics and Dynamics of the IPAnema 3 Cable Robot for Simulative Analysishttps://puma.ub.uni-stuttgart.de/bibtex/26dfb1c595dcdf07dd90a840143f650ce/isw-bibliothekisw-bibliothek2016-03-09T11:44:11+01:00cable-driven cable-robot cdpr dynamics isw isw-2015 kinematics modeling parallel pn3-7 robots <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Philipp Tempel" itemprop="url" href="/person/1890242751b3b4f431fbeb708e4d61efc/author/0"><span itemprop="name">P. Tempel</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Philipp Miermeister" itemprop="url" href="/person/1890242751b3b4f431fbeb708e4d61efc/author/1"><span itemprop="name">P. Miermeister</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Armin Lechler" itemprop="url" href="/person/1890242751b3b4f431fbeb708e4d61efc/author/2"><span itemprop="name">A. Lechler</span></a></span>, </span> and <span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Andreas Pott" itemprop="url" href="/person/1890242751b3b4f431fbeb708e4d61efc/author/3"><span itemprop="name">A. Pott</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/PublicationIssue" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="journal">AMM</span>, </em> </span>(<em><span>October 2015<meta content="October 2015" itemprop="datePublished"/></span></em>)</span>Wed Mar 09 11:44:11 CET 2016{AMM}oct419--426Modelling of Kinematics and Dynamics of the {IPAnema} 3 Cable Robot for Simulative Analysis7942015cable-driven cable-robot cdpr dynamics isw isw-2015 kinematics modeling parallel pn3-7 robots SimTech Milestone Report: Improved Modeling of Cables for Kinematics and Dynamics of Cable-driven Parallel Robotshttps://puma.ub.uni-stuttgart.de/bibtex/269175cf74d114807d724b8d25d58dbee/isw-bibliothekisw-bibliothek2016-03-09T11:42:45+01:00cable-driven cable-robot cdpr dynamics isw isw-2015 kinematics pn3-7 simulation <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Philipp Tempel" itemprop="url" href="/person/1ef911aee8b063c3ad72c6b05aabe7070/author/0"><span itemprop="name">P. Tempel</span></a></span></span>. </span><span class="additional-entrytype-information">(<em><span>August 2015<meta content="August 2015" itemprop="datePublished"/></span></em>)</span>Wed Mar 09 11:42:45 CET 201608SimTech Milestone Report: Improved Modeling of Cables for Kinematics and Dynamics of Cable-driven Parallel Robots2015cable-driven cable-robot cdpr dynamics isw isw-2015 kinematics pn3-7 simulation SimTech Milestone Report: Improved Modeling of Cables for Kinematics and Dynamics of Cable-driven Parallel Robotshttps://puma.ub.uni-stuttgart.de/bibtex/269175cf74d114807d724b8d25d58dbee/philipptempelphilipptempel2015-12-08T08:42:21+01:00cable-driven cable-robot dynamics kinematics myown <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Philipp Tempel" itemprop="url" href="/person/1ef911aee8b063c3ad72c6b05aabe7070/author/0"><span itemprop="name">P. Tempel</span></a></span></span>. </span><span class="additional-entrytype-information">(<em><span>August 2015<meta content="August 2015" itemprop="datePublished"/></span></em>)</span>Tue Dec 08 08:42:21 CET 201508SimTech Milestone Report: Improved Modeling of Cables for Kinematics and Dynamics of Cable-driven Parallel Robots2015cable-driven cable-robot dynamics kinematics myown Modelling of Kinematics and Dynamics of the IPAnema 3 Cable Robot for Simulative Analysishttps://puma.ub.uni-stuttgart.de/bibtex/26dfb1c595dcdf07dd90a840143f650ce/philipptempelphilipptempel2015-11-05T17:29:03+01:00cable-driven cable-robot dynamics kinematics modeling myown parallel robots <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Philipp Tempel" itemprop="url" href="/person/1890242751b3b4f431fbeb708e4d61efc/author/0"><span itemprop="name">P. Tempel</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Philipp Miermeister" itemprop="url" href="/person/1890242751b3b4f431fbeb708e4d61efc/author/1"><span itemprop="name">P. Miermeister</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Armin Lechler" itemprop="url" href="/person/1890242751b3b4f431fbeb708e4d61efc/author/2"><span itemprop="name">A. Lechler</span></a></span>, </span> and <span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Andreas Pott" itemprop="url" href="/person/1890242751b3b4f431fbeb708e4d61efc/author/3"><span itemprop="name">A. Pott</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/PublicationIssue" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="journal">AMM</span>, </em> </span>(<em><span>October 2015<meta content="October 2015" itemprop="datePublished"/></span></em>)</span>Thu Nov 05 17:29:03 CET 2015{AMM}oct419--426Modelling of Kinematics and Dynamics of the {IPAnema} 3 Cable Robot for Simulative Analysis7942015cable-driven cable-robot dynamics kinematics modeling myown parallel robots Kinematics and Dynamics Modeling for Real-Time Simulation of the Cable-Driven Parallel Robot IPAnema 3https://puma.ub.uni-stuttgart.de/bibtex/2a548f40a68a487e59ca8a2324a074462/philipptempelphilipptempel2015-11-05T17:27:00+01:00cable-driven cable-robot dynamics kinematics modeling myown parallel robots <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Philipp Tempel" itemprop="url" href="/person/141c9eb2026b6b2316d264b040956d509/author/0"><span itemprop="name">P. Tempel</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Philipp Miermeister" itemprop="url" href="/person/141c9eb2026b6b2316d264b040956d509/author/1"><span itemprop="name">P. Miermeister</span></a></span>, </span> and <span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Andreas Pott" itemprop="url" href="/person/141c9eb2026b6b2316d264b040956d509/author/2"><span itemprop="name">A. Pott</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/PublicationIssue" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="journal">Proceedings of the 14th IFToMM World Congress</span>, </em> </span>(<em><span>October 2015<meta content="October 2015" itemprop="datePublished"/></span></em>)</span>Thu Nov 05 17:27:00 CET 2015Proceedings of the 14th IFToMM World Congressoct14th-2117-123Kinematics and Dynamics Modeling for Real-Time Simulation of the Cable-Driven Parallel Robot IPAnema 32015cable-driven cable-robot dynamics kinematics modeling myown parallel robots In this paper, the kinematics and dynamics modeling of the mechatronic model for a 6 DOF cable-driven parallel robot are covered and a real-time capable simulation model for such robots is derived. The governing equations of motion of the mobile platform are acquired using Newton-Euler formalism, furthermore, the pulley kinematics of the winches and a spring-damper based cable model are introduced. Once the equations of motion are derived, closed-form force distribution is implemented and simulation results of the real-time capable model for the cable-driven parallel robot IPAnema 3 is presented. Given the real-time capability, the established model can be used for hardware-in-the-loop simulation or controller design, but also for case studies of highly dynamic or large-scale robots.