{"6dfb1c595dcdf07dd90a840143f650cephilipptempel":{"DOI":"10.4028/www.scientific.net/amm.794.419","ISBN":"","ISSN":"","URL":"http://dx.doi.org/10.4028/www.scientific.net/AMM.794.419","abstract":"","annote":"","author":[{"family":"Tempel","given":"Philipp"},{"family":"Miermeister","given":"Philipp"},{"family":"Lechler","given":"Armin"},{"family":"Pott","given":"Andreas"}],"citation-label":"Tempel_2015","collection-editor":[],"collection-title":"","container-author":[],"container-title":"AMM","documents":[],"edition":"","editor":[],"event-date":{"date-parts":[["2015","10"]],"literal":"2015"},"event-place":"","id":"6dfb1c595dcdf07dd90a840143f650cephilipptempel","interhash":"890242751b3b4f431fbeb708e4d61efc","intrahash":"6dfb1c595dcdf07dd90a840143f650ce","issue":"","issued":{"date-parts":[["2015","10"]],"literal":"2015"},"keyword":"myown cable-driven modeling parallel dynamics cable-robot kinematics robots","misc":{"doi":"10.4028/www.scientific.net/amm.794.419"},"note":"","number":"","number-of-pages":"7","page":"419--426","page-first":"419","publisher":"Trans Tech Publications","publisher-place":"","status":"","title":"Modelling of Kinematics and Dynamics of the IPAnema 3 Cable Robot for Simulative Analysis","type":"article-journal","username":"philipptempel","version":"","volume":"794"},"a548f40a68a487e59ca8a2324a074462philipptempel":{"DOI":"10.6567/IFToMM.14TH.WC.OS4.020","ISBN":"","ISSN":"","URL":"","abstract":"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.","annote":"","author":[{"family":"Tempel","given":"Philipp"},{"family":"Miermeister","given":"Philipp"},{"family":"Pott","given":"Andreas"}],"citation-label":"AL:P20150909001-201510-201510280027-201510280027-117-123","collection-editor":[],"collection-title":"","container-author":[],"container-title":"Proceedings of the 14th IFToMM World Congress","documents":[],"edition":"","editor":[],"event-date":{"date-parts":[["2015","10"]],"literal":"2015"},"event-place":"","id":"a548f40a68a487e59ca8a2324a074462philipptempel","interhash":"41c9eb2026b6b2316d264b040956d509","intrahash":"a548f40a68a487e59ca8a2324a074462","issue":"14th-2","issued":{"date-parts":[["2015","10"]],"literal":"2015"},"keyword":"myown cable-driven modeling parallel dynamics cable-robot kinematics robots","misc":{"language":"英文","doi":"10.6567/IFToMM.14TH.WC.OS4.020"},"note":"","number":"14th-2","number-of-pages":"6","page":"117-123","page-first":"117","publisher":"國立臺灣大學機械系","publisher-place":"","status":"","title":"Kinematics and Dynamics Modeling for Real-Time Simulation of the Cable-Driven Parallel Robot IPAnema 3","type":"article-journal","username":"philipptempel","version":"","volume":""}}