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         "id"   : "https://puma.ub.uni-stuttgart.de/bibtex/2290e83f7679a56cea357e23a63fcd3b7/philipptempel",         
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         "label" : "Modeling of Elastic-Flexible Cables with Time-Varying Length for Cable-Driven Parallel Robotsj",
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         "booktitle": "Proceedings of the Fourth International Conference on Cable-Driven Parallel Robots","series": "Advances in Mechanism and Machine Science","publisher":"Springer Switzerland",
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         "author": [ 
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         "author": [ 
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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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         "date" : "2015-11-05 17:27:00",
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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"}
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         "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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