{ "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/2a928891e37cb4e52c8c870dbf3159b54/isw-bibliothek", "tags" : [ "cable-driven","isw","parallel","robot" ], "intraHash" : "a928891e37cb4e52c8c870dbf3159b54", "interHash" : "519db743b0465fd655927372cf322deb", "label" : "Experimental Investigation on Adaptive Preload Control for Cable-Driven Parallel Robots", "user" : "isw-bibliothek", "description" : "", "date" : "2025-07-04 09:36:06", "changeDate" : "2025-07-04 09:36:06", "count" : 2, "pub-type": "inproceedings", "booktitle": "Cable-Driven Parallel Robots","publisher":"Springer Nature Switzerland","address":"Cham", "year": "2025", "url": "", "author": [ "Thomas Reichenbach","Johannes Clar","Andreas Pott","Alexander Verl" ], "authors": [ {"first" : "Thomas", "last" : "Reichenbach"}, {"first" : "Johannes", "last" : "Clar"}, {"first" : "Andreas", "last" : "Pott"}, {"first" : "Alexander", "last" : "Verl"} ], "editor": [ "Darwin Lau","Andreas Pott","Tobias Bruckmann" ], "editors": [ {"first" : "Darwin", "last" : "Lau"}, {"first" : "Andreas", "last" : "Pott"}, {"first" : "Tobias", "last" : "Bruckmann"} ], "pages": "209--221","abstract": "This paper presents an experimental investigation of a novel control method designed to adaptively adjust the preload of cable-driven parallel robots in their nullspace. Precise motion of cable robots is challenging due to positioning errors caused by cable actuation or environmental influences. Current model-based control concepts minimize errors by identifying system-specific parameters, whereas the presented adaptive preload control (APC) method is generic, focusing on platform preload and adaptive stiffness adjustment to improve the performance of cable robots. A real-time preload parameter optimization is used to compute valid force distribution set-points, requiring only the parameterization of a force controller for integration. To evaluate the performance, the experiments follow standardized procedures, evaluating position and path repeatability and accuracy according to ISO 9283. The proposed APC method achieves improvements in path repeatability and accuracy ranging from 30\\% to 58\\%, compared to standard position control methods based solely on inverse kinematics. Furthermore, the investigation shows correlations between path accuracy, platform stiffness, and power consumption.", "isbn" : "978-3-031-94608-0", "bibtexKey": "10.1007/978-3-031-94608-0_17" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2c65d764bc2c264c0580d931be165c73a/intcdc", "tags" : [ "cable-driven","robot","parallel","peer","rp27","cable-robot","reconfiguration","from:isw-bibliothek" ], "intraHash" : "c65d764bc2c264c0580d931be165c73a", "interHash" : "f301364c0ab3ac7475ac885da7636cc4", "label" : "A Predictor-Corrector-Scheme for the Geometry Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots", "user" : "intcdc", "description" : "", "date" : "2023-06-15 09:01:46", "changeDate" : "2023-06-15 09:01:46", "count" : 3, "pub-type": "inbook", "booktitle": "Cable-Driven Parallel Robots","publisher":"Springer Nature Switzerland","address":"Cham", "year": "2023", "url": "https://link.springer.com/chapter/10.1007/978-3-031-32322-5_21", "author": [ "Felix Trautwein","Thomas Reichenbach","Andreas Pott","Alexander Verl" ], "authors": [ {"first" : "Felix", "last" : "Trautwein"}, {"first" : "Thomas", "last" : "Reichenbach"}, {"first" : "Andreas", "last" : "Pott"}, {"first" : "Alexander", "last" : "Verl"} ], "editor": [ "Stéphane Caro","Andreas Pott","Tobias Bruckmann" ], "editors": [ {"first" : "Stéphane", "last" : "Caro"}, {"first" : "Andreas", "last" : "Pott"}, {"first" : "Tobias", "last" : "Bruckmann"} ], "volume": "132","pages": "261--272", "isbn" : "9783031323218", "doi" : "10.1007/978-3-031-32322-5_21", "bibtexKey": "trautwein2023predictorcorrectorscheme" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2c65d764bc2c264c0580d931be165c73a/isw-bibliothek", "tags" : [ "cable-driven","cable-robot","parallel","peer","reconfiguration","robot","rp27" ], "intraHash" : "c65d764bc2c264c0580d931be165c73a", "interHash" : "f301364c0ab3ac7475ac885da7636cc4", "label" : "A Predictor-Corrector-Scheme for the Geometry Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots", "user" : "isw-bibliothek", "description" : "", "date" : "2023-06-15 08:53:01", "changeDate" : "2023-06-15 09:01:46", "count" : 3, "pub-type": "inbook", "booktitle": "Cable-Driven Parallel Robots","publisher":"Springer Nature Switzerland","address":"Cham", "year": "2023", "url": "https://link.springer.com/chapter/10.1007/978-3-031-32322-5_21", "author": [ "Felix Trautwein","Thomas Reichenbach","Andreas Pott","Alexander Verl" ], "authors": [ {"first" : "Felix", "last" : "Trautwein"}, {"first" : "Thomas", "last" : "Reichenbach"}, {"first" : "Andreas", "last" : "Pott"}, {"first" : "Alexander", "last" : "Verl"} ], "editor": [ "Stéphane Caro","Andreas Pott","Tobias Bruckmann" ], "editors": [ {"first" : "Stéphane", "last" : "Caro"}, {"first" : "Andreas", "last" : "Pott"}, {"first" : "Tobias", "last" : "Bruckmann"} ], "volume": "132","pages": "261--272", "isbn" : "9783031323218", "doi" : "10.1007/978-3-031-32322-5_21", "bibtexKey": "trautwein2023predictorcorrectorscheme" } , { "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/24e22355557c192443928b1a3b823b53e/isw-bibliothek", "tags" : [ "cable-driven","cable-robot","isw","parallel","robot" ], "intraHash" : "4e22355557c192443928b1a3b823b53e", "interHash" : "dd29c05b116ea8db93c20512a3ff86b3", "label" : "Experimental Identification of Stress-Strain Material Models of UHMWPE Fiber Cables for Improving Cable Tension Control Strategies", "user" : "isw-bibliothek", "description" : "", "date" : "2019-03-24 15:08:54", "changeDate" : "2019-03-24 14:08:54", "count" : 1, "pub-type": "inproceedings", "booktitle": "Advances in Robot Kinematics 2018","publisher":"Springer International Publishing","address":"Cham", "year": "2019", "url": "", "author": [ "Philipp Tempel","Felix Trautwein","Andreas Pott" ], "authors": [ {"first" : "Philipp", "last" : "Tempel"}, {"first" : "Felix", "last" : "Trautwein"}, {"first" : "Andreas", "last" : "Pott"} ], "editor": [ "Jadran Lenarcic","Vincenzo Parenti-Castelli" ], "editors": [ {"first" : "Jadran", "last" : "Lenarcic"}, {"first" : "Vincenzo", "last" : "Parenti-Castelli"} ], "pages": "258--265","abstract": "Ultra-high-molecular-weight polyethylene fibers like Dyneema or Spectra are employed in a vast variety of cable-driven parallel robots. The stress-strain dynamics of such cables are highly non-linear with time-varying mechanical parameters, resulting in involved modeling and control of robot dynamics. To improve controllability of cable robots, the cable stress-strain dynamics need to be known and explicitly considered feedforward or closed-loop control. A model can only be deemed suitable, if its inherent dynamics is confirmed through experiments and if it allows for reasonable parameter estimation. We present results of experimental identification of stress-strain dynamics of UHMWPE cables made of Dyneema in different stages of operation. Due to the internal material mechanics, four stages can be identified: the tensing and relaxing transition as well as plateaus coming from either. The implications of verified and parametrized stress-strain models for cable robot tension control strategies is expedited.", "isbn" : "978-3-319-93188-3", "bibtexKey": "10.1007/978-3-319-93188-3_30" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/26020da83bbfb1f24aa636fbe31747f8f/isw-bibliothek", "tags" : [ "cable-driven","cable-robot","isw","parallel","robot" ], "intraHash" : "6020da83bbfb1f24aa636fbe31747f8f", "interHash" : "f4aadb6e62c9941907fee5820e8a0296", "label" : "A Unified Approach to Forward Kinematics for Cable-Driven Parallel Robots Based on Energy", "user" : "isw-bibliothek", "description" : "", "date" : "2019-03-24 15:07:51", "changeDate" : "2019-03-24 14:07:51", "count" : 1, "pub-type": "inproceedings", "booktitle": "Advances in Robot Kinematics 2018","publisher":"Springer International Publishing","address":"Cham", "year": "2019", "url": "", "author": [ "Andreas Pott","Philipp Tempel" ], "authors": [ {"first" : "Andreas", "last" : "Pott"}, {"first" : "Philipp", "last" : "Tempel"} ], "editor": [ "Jadran Lenarcic","Vincenzo Parenti-Castelli" ], "editors": [ {"first" : "Jadran", "last" : "Lenarcic"}, {"first" : "Vincenzo", "last" : "Parenti-Castelli"} ], "pages": "401--409","abstract": "This paper deals with a unified approach to forward kinematics for both over-constrained and under-constrained cable robots. Moreover, little assumptions on the cable model are required. This makes the proposed method applicable to a variety of currently discussed cable models including the standard model, an elastic cable model, static cable sagging, or even finite elements model. Solutions to the forward kinematics problem are computed by minimizing potential energy in the cable robot. As shown in this paper, the method unifies forward kinematics of both over-constrained and under-constrained cable robots.", "isbn" : "978-3-319-93188-3", "bibtexKey": "10.1007/978-3-319-93188-3_46" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2d40198bec18487255b82cf18fb265c47/andreaspott", "tags" : [ "Cable;","Experimental;","Import180214;","Lifetime;","cable-driven","myown;","parallel","robot;","testing;","wear;" ], "intraHash" : "d40198bec18487255b82cf18fb265c47", "interHash" : "033a7ea4d539737322d90dd00cb0207e", "label" : "Bending fatigue strength and lifetime of fiber ropes", "user" : "andreaspott", "description" : "", "date" : "2018-02-14 08:37:06", "changeDate" : "2018-02-14 08:20:21", "count" : 2, "pub-type": "incollection", "booktitle": "Cable-driven Parallel Robots", "year": "2018", "url": "", "author": [ "Martin Wehr","Andreas Pott","Karl Heinz Wehking" ], "authors": [ {"first" : "Martin", "last" : "Wehr"}, {"first" : "Andreas", "last" : "Pott"}, {"first" : "Karl Heinz", "last" : "Wehking"} ], "volume": "53","pages": "73--84","abstract": "\\copyright Springer International Publishing AG 2018. Modern fiber ropes have several distinctive properties which predestine them amongst others for high dynamic applications in robotics. Beside their great breaking load due to their high tensile streghth, the extremely low density and weight are the most important advantages over steel wire ropes. For steel wire ropes, it is generally known that their lifetime drops when raising the dynamic stress on running or static ropes. The long-time behavior of high-dynamically stressed fiber ropes is totally unexplored up to now. This lack impedes the breakthrough of fiber ropes and causes a safety gap, which has to be closed. This paper describes the research on modern fiber ropes regarding their lifetime in normal and high dynamic applications. The derived results are interpretered with respect to application in robotics.", "isbn" : "9783319614304", "bibtexKey": "Wehr2018" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2323e238f67fcd7c605f7a7b73d5e89e9/andreaspott", "tags" : [ "Import180214;","Ovalisation;","Winch;","Winding;","cable-driven","myown;","parallel","properties;","robot;" ], "intraHash" : "323e238f67fcd7c605f7a7b73d5e89e9", "interHash" : "12cab22bcf4da97a68dc4eb9949dcc1b", "label" : "Investigating the Effect of Cable Force on Winch Winding Accuracy for Cable-Driven Parallel Robots", "user" : "andreaspott", "description" : "", "date" : "2018-02-14 08:37:06", "changeDate" : "2018-02-14 08:19:10", "count" : 1, "pub-type": "inproceedings", "booktitle": "New Trends in Mechanism and Machine Science","series": "Mechanisms and Machine Science","publisher":"Springer", "year": "2015", "url": "http://dx.doi.org/10.1007/978-3-319-09411-3\\textunderscore 34", "author": [ "Valentin Schmidt","Alexander Mall","Andreas Pott" ], "authors": [ {"first" : "Valentin", "last" : "Schmidt"}, {"first" : "Alexander", "last" : "Mall"}, {"first" : "Andreas", "last" : "Pott"} ], "volume": "24","pages": "315-323", "isbn" : "978-3-319-09410-6", "bibtexKey": "Schmidt2015" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2a35578bdc8e10c806b4e866997d2aef5/andreaspott", "tags" : [ "Import180214;","Kinematics;","Multiple","cable-driven","design;","myown;","parallel","platforms;","robot;","robot;Force" ], "intraHash" : "a35578bdc8e10c806b4e866997d2aef5", "interHash" : "0091263f6bd027cb4f672cfc6fdfa1ee", "label" : "Design of Cable-Driven Parallel Robots with Multiple Platforms and Endless Rotating Axes", "user" : "andreaspott", "description" : "", "date" : "2018-02-14 08:37:06", "changeDate" : "2018-02-14 08:18:24", "count" : 1, "pub-type": "incollection", "booktitle": "Interdisciplinary Applications of Kinematics","series": "Mechanisms and Machine Science","publisher":"Springer", "year": "2015", "url": "http://dx.doi.org/10.1007/978-3-319-10723-3", "author": [ "Philipp Miermeister","Andreas Pott" ], "authors": [ {"first" : "Philipp", "last" : "Miermeister"}, {"first" : "Andreas", "last" : "Pott"} ], "volume": "26","pages": "21--29", "isbn" : "978-3-319-10722-6", "bibtexKey": "Miermeister2015" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2967d66a0c38e8746feb4cea7be6496f0/andreaspott", "tags" : [ "Cable-driven","Collision;","Deflection;","Import180214;","angles;","cable","design;","myown;","parallel","robot;","span","workspace;" ], "intraHash" : "967d66a0c38e8746feb4cea7be6496f0", "interHash" : "4784d0229c2cd0877db7a59e0e504052", "label" : "Determination of the cable span and cable deflection of cable-driven parallel robots", "user" : "andreaspott", "description" : "", "date" : "2018-02-14 08:37:06", "changeDate" : "2018-02-14 08:17:53", "count" : 2, "pub-type": "incollection", "booktitle": "Cable-driven Parallel Robots", "year": "2018", "url": "", "author": [ "Andreas Pott" ], "authors": [ {"first" : "Andreas", "last" : "Pott"} ], "volume": "53","pages": "106--116","abstract": "Springer International Publishing AG 2018. In this paper, a method is proposed to compute the so-called cable span, i.e. the space occupied by the cables when the robot is moving within its workspace. As the cables are attached to a mostly fixed point on the robot frame, the shape of the cable span is a generalized cone. We present an efficient method polar sorting to compute the surface of this cone. Furthermore, the found geometry of the cone is employed in the design of the cable anchor points in order to dimension its deflection capabilities and to compute a suitable orientation for the installation of the mechanical unit.", "isbn" : "9783319614304", "bibtexKey": "Pott2018b" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2a94af3051390a15f7b9b5a1c8a18ef49/andreaspott", "tags" : [ "Accuracy;","Cable-driven","Elongation;","Import180214;","Real-time","computation;","modeling;","myown;","parallel","robots;" ], "intraHash" : "a94af3051390a15f7b9b5a1c8a18ef49", "interHash" : "87193bab74df5bf72711744f58d5c4bb", "label" : "Increase of position accuracy for cable-driven parallel robots using a model for elongation of plastic fiber ropes", "user" : "andreaspott", "description" : "", "date" : "2018-02-14 08:37:06", "changeDate" : "2018-02-14 08:16:53", "count" : 1, "pub-type": "incollection", "booktitle": "Mechanisms and Machine Science", "year": "2017", "url": "", "author": [ "Valentin Schmidt","Andreas Pott" ], "authors": [ {"first" : "Valentin", "last" : "Schmidt"}, {"first" : "Andreas", "last" : "Pott"} ], "volume": "43","pages": "335--343","abstract": "Springer International Publishing Switzerland 2017. This paper investigates the modeling of elongation in plastic fiber ropes for cable-driven parallel robots. The aim is to increase the accuracy of such amachine by incorporating a simple model for cable elongation when a force is applied. Several other modeling techniques already exist which take into account pulleys, cable mass, and the cables' Young's modulus. Their calculation is involved and accuracy improvements are yet to be verified completely. Here, a simpler model which only takes into account a theoretical force, based on robot geometry, at a given pose and measured elongation coefficients is proposed. It is implemented and verified experimentally, on the fully constrained IPAnema 3 prototype. It is shown to give an accuracy improvement of two fifths, from 46.5mm to 29.0mm average position deviation.", "isbn" : "9783319441559", "bibtexKey": "Schmidt2017" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/22d83aefa2410756da89ab7bbd6fdfafc/andreaspott", "tags" : [ "Differential;","Import180214;","boundary;","cable-driven","design;Workspace;","myown;","parallel","robot;" ], "intraHash" : "2d83aefa2410756da89ab7bbd6fdfafc", "interHash" : "21d0af93018eb0c228f1de30f50236ed", "label" : "Efficient computation of the workspace boundary, its properties and derivatives for cable-driven parallel robots", "user" : "andreaspott", "description" : "", "date" : "2018-02-14 08:37:06", "changeDate" : "2018-02-14 08:14:33", "count" : 1, "pub-type": "incollection", "booktitle": "7th International Workshop on Computational Kinematics, CK 2017", "year": "2017", "url": "", "author": [ "Andreas Pott" ], "authors": [ {"first" : "Andreas", "last" : "Pott"} ], "volume": "50","pages": "190--197","abstract": "Springer International Publishing AG 2018. The workspace is an important property in the design of every cable-driven parallel robot. As the workspace is a complicated geometric object, it is difficult to describe changes in shape and size of the workspace when varying the design parameters of the robot. In this paper, we present an efficient method called differential workspace hull to describe and compute the workspace properties. The method is based on a triangulation of the surface of the robot's workspace. Furthermore, we establish an algorithm that allows to compute the influence of small changes in the design parameters on the workspace shape. A numerical example underlines the computational efficiency and accuracy of the presented method.", "bibtexKey": "Pott2018" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2bce9b23147e966eb302e5e7d71df42e4/andreaspott", "tags" : [ "Import180214;","Mechanism;Redundant","cable-driven","myown;","parallel","robot" ], "intraHash" : "bce9b23147e966eb302e5e7d71df42e4", "interHash" : "047cad00afa5b2830a97fe924a6d44a2", "label" : "System identification and cable force control for a cable-driven parallel robot with industrial servo drives.", "user" : "andreaspott", "description" : "", "date" : "2018-02-14 08:37:06", "changeDate" : "2018-02-14 08:10:51", "count" : 3, "pub-type": "inproceedings", "booktitle": "IEEE International Conference on Robotics and Automation (ICRA), 2014","publisher":"IEEE", "year": "2014", "url": "", "author": [ "Werner Kraus","Valentin Schmidt","Puneeth Rajendra","Andreas Pott" ], "authors": [ {"first" : "Werner", "last" : "Kraus"}, {"first" : "Valentin", "last" : "Schmidt"}, {"first" : "Puneeth", "last" : "Rajendra"}, {"first" : "Andreas", "last" : "Pott"} ], "pages": "5921-5926","abstract": "In a cable-driven parallel robot, elastic cables are used to manipulate the end effector in the workspace. In this paper we present a dynamic analysis and system identification for the complete actuator unit of a cable robot including servo controller, winch, cable, cable force sensor and field bus communication. We establish a second-order system with dead time as an analagous model. Based on this investigation, we propose the design and stability analysis of a cable force controller. We present the implementation of feed-forward and integral controllers based on a stiffness model of the cables. As the platform position is not observable the challenge is to control the cable force while maintaining the positional accuracy. Experimental evaluation of the force controller shows, that the absolute positional accuracy is even improved.", "bibtexKey": "Kraus2014" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2e86c0829751529aff692de6146b7852f/andreaspott", "tags" : [ "Cable-driven","Import180214;","modeling;dynamics;","myown;","parallel","robot;","simulation;hardware-in-the-loop","system" ], "intraHash" : "e86c0829751529aff692de6146b7852f", "interHash" : "41c9eb2026b6b2316d264b040956d509", "label" : "Kinematics and Dynamics Modeling for Real-Time Simulation of the Cable-Driven Parallel Robot IPAnema 3", "user" : "andreaspott", "description" : "", "date" : "2018-02-14 08:37:06", "changeDate" : "2018-02-14 08:08:40", "count" : 7, "pub-type": "inproceedings", "booktitle": "Proceedings of the 14th IFToMM World Congress","address":"Taipei", "year": "2015", "url": "", "author": [ "Philipp Tempel","Philipp Miermeister","Andreas Pott" ], "authors": [ {"first" : "Philipp", "last" : "Tempel"}, {"first" : "Philipp", "last" : "Miermeister"}, {"first" : "Andreas", "last" : "Pott"} ], "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. 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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" } ] }