{ "types" : { "Bookmark" : { "pluralLabel" : "Bookmarks" }, "Publication" : { "pluralLabel" : "Publications" }, "GoldStandardPublication" : { "pluralLabel" : "GoldStandardPublications" }, "GoldStandardBookmark" : { "pluralLabel" : "GoldStandardBookmarks" }, "Tag" : { "pluralLabel" : "Tags" }, "User" : { "pluralLabel" : "Users" }, "Group" : { "pluralLabel" : "Groups" }, "Sphere" : { "pluralLabel" : "Spheres" } }, "properties" : { "count" : { "valueType" : "number" }, "date" : { "valueType" : "date" }, "changeDate" : { "valueType" : "date" }, "url" : { "valueType" : "url" }, "id" : { "valueType" : "url" }, "tags" : { "valueType" : "item" }, "user" : { "valueType" : "item" } }, "items" : [ { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2f3fbea026934205adad6922333cff4bd/isw-bibliothek", "tags" : [ "cable-driven","parallel","robots" ], "intraHash" : "f3fbea026934205adad6922333cff4bd", "interHash" : "f5c19a0b66e6e09ec0c39447dd99be44", "label" : "COPacabana: A Modular Cable-Driven Parallel Robot", "user" : "isw-bibliothek", "description" : "", "date" : "2020-05-15 15:37:05", "changeDate" : "2020-05-15 13:42:13", "count" : 1, "pub-type": "incollection", "booktitle": "Sechste IFToMM D-A-CH Konferenz", "year": "2020", "url": "", "author": [ "Felix Trautwein","Thomas Reichenbach","Philipp Tempel","Andreas Pott","Alexander Verl" ], "authors": [ {"first" : "Felix", "last" : "Trautwein"}, {"first" : "Thomas", "last" : "Reichenbach"}, {"first" : "Philipp", "last" : "Tempel"}, {"first" : "Andreas", "last" : "Pott"}, {"first" : "Alexander", "last" : "Verl"} ], "volume": "2020","abstract": "Due to their use of modular components, cable-driven parallel robots are prime candidates for use as reconfigurable robotic manipulators. Reconfiguration comprises both the change of the geometry as well as topological changes such as adding or removing axes. To validate practicability of methods for reconfiguration, we developed the reconfigurable cable-driven parallel robot Cable-Operated Parallel Robot (COPacabana). This paper presents the mechanical design as well as the hardware and software in use on the test rig. Further use cases for validation of research findings are presented as well.", "file" : "1ccdb281-835c-4959-be53-eb5ef6b33537:C\\:\\\\Users\\\\ac123748\\\\AppData\\Łocal\\\\Swiss Academic Software\\\\Citavi 6\\\\ProjectCache\\\\cusz0rmxhlz77jjnyb5zp4hwqdh14zphlkpe42130wtgp54k\\\\Citavi Attachments\\\\1ccdb281-835c-4959-be53-eb5ef6b33537.pdf:pdf", "doi" : "10.17185/duepublico/71189", "bibtexKey": "Trautwein.2020" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/26dfb1c595dcdf07dd90a840143f650ce/isw-bibliothek", "tags" : [ "cable-driven","cable-robot","cdpr","dynamics","isw","isw-2015","kinematics","modeling","parallel","pn3-7","robots" ], "intraHash" : "6dfb1c595dcdf07dd90a840143f650ce", "interHash" : "890242751b3b4f431fbeb708e4d61efc", "label" : "Modelling of Kinematics and Dynamics of the IPAnema 3 Cable Robot for Simulative Analysis", "user" : "isw-bibliothek", "description" : "", "date" : "2016-03-09 11:44:11", "changeDate" : "2017-10-19 14:57:41", "count" : 8, "pub-type": "article", "journal": "AMM","publisher":"Trans Tech Publications", "year": "2015", "url": "http://dx.doi.org/10.4028/www.scientific.net/AMM.794.419", "author": [ "Philipp Tempel","Philipp Miermeister","Armin Lechler","Andreas Pott" ], "authors": [ {"first" : "Philipp", "last" : "Tempel"}, {"first" : "Philipp", "last" : "Miermeister"}, {"first" : "Armin", "last" : "Lechler"}, {"first" : "Andreas", "last" : "Pott"} ], "volume": "794","pages": "419--426", "doi" : "10.4028/www.scientific.net/amm.794.419", "bibtexKey": "Tempel_2015" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/26dfb1c595dcdf07dd90a840143f650ce/philipptempel", "tags" : [ "cable-driven","cable-robot","dynamics","kinematics","modeling","myown","parallel","robots" ], "intraHash" : "6dfb1c595dcdf07dd90a840143f650ce", "interHash" : "890242751b3b4f431fbeb708e4d61efc", "label" : "Modelling of Kinematics and Dynamics of the IPAnema 3 Cable Robot for Simulative Analysis", "user" : "philipptempel", "description" : "", "date" : "2015-11-05 17:29:03", "changeDate" : "2016-03-09 10:41:39", "count" : 8, "pub-type": "article", "journal": "AMM","publisher":"Trans Tech Publications", "year": "2015", "url": "http://dx.doi.org/10.4028/www.scientific.net/AMM.794.419", "author": [ "Philipp Tempel","Philipp Miermeister","Armin Lechler","Andreas Pott" ], "authors": [ {"first" : "Philipp", "last" : "Tempel"}, {"first" : "Philipp", "last" : "Miermeister"}, {"first" : "Armin", "last" : "Lechler"}, {"first" : "Andreas", "last" : "Pott"} ], "volume": "794","pages": "419--426", "doi" : "10.4028/www.scientific.net/amm.794.419", "bibtexKey": "Tempel_2015" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2a548f40a68a487e59ca8a2324a074462/philipptempel", "tags" : [ "cable-driven","cable-robot","dynamics","kinematics","modeling","myown","parallel","robots" ], "intraHash" : "a548f40a68a487e59ca8a2324a074462", "interHash" : "41c9eb2026b6b2316d264b040956d509", "label" : "Kinematics and Dynamics Modeling for Real-Time Simulation of the Cable-Driven Parallel Robot IPAnema 3", "user" : "philipptempel", "description" : "", "date" : "2015-11-05 17:27:00", "changeDate" : "2016-03-09 10:41:39", "count" : 7, "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" } ] }