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         "author": [ 
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            	{"first" : "Philipp",	"last" : "Tempel"},
            	{"first" : "Fabian",	"last" : "Schnelle"},
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         "volume": "3","number": "3","pages": "223","abstract": "In the German Pavilion at the EXPO 2015, two large cable-driven parallel robots are flying over the heads of the visitors representing two bees flying over Germany and displaying everyday life in Germany. Each robot consists of a mobile platform and eight cables suspended by winches and follows a desired trajectory, which needs to be computed in advance taking technical limitations, safety considerations and visual aspects into account. In this paper, a path planning software is presented, which includes the design process from developing a robot design and workspace estimation via planning complex trajectories considering technical limitations through to exporting a complete show. For a test trajectory, simulation results are given, which display the relevant trajectories and cable force distributions.",
         "issn" : "2075-1702",
         
         "doi" : "10.3390/machines3030223",
         
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         "year": "2015", 
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         "author": [ 
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            	{"first" : "Philipp",	"last" : "Miermeister"},
            	{"first" : "Armin",	"last" : "Lechler"},
            	{"first" : "Andreas",	"last" : "Pott"}
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         "label" : "Kinematics and Dynamics Modeling for Real-Time Simulation of the Cable-Driven Parallel Robot IPAnema 3",
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         "pub-type": "article",
         "journal": "Proceedings of the 14th IFToMM World Congress","publisher":"國立臺灣大學機械系",
         "year": "2015", 
         "url": "", 
         
         "author": [ 
            "Philipp Tempel","Philipp Miermeister","Andreas Pott"
         ],
         "authors": [
         	
            	{"first" : "Philipp",	"last" : "Tempel"},
            	{"first" : "Philipp",	"last" : "Miermeister"},
            	{"first" : "Andreas",	"last" : "Pott"}
         ],
         "number": "14th-2","pages": "117-123","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.",
         "language" : "英文",
         
         "doi" : "10.6567/IFToMM.14TH.WC.OS4.020",
         
         "bibtexKey": "AL:P20150909001-201510-201510280027-201510280027-117-123"

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