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            	{"first" : "Alexander C.",	"last" : "Schütz"},
            	{"first" : "Anna",	"last" : "Schubö"},
            	{"first" : "Dominik",	"last" : "Endres"},
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            	{"first" : "Andreas",	"last" : "Pott"}
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         "url": "", 
         
         "author": [ 
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            	{"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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