PUMA publications for /group/simtech/cable-drivenSat Jan 26 14:43:22 CET 2019Proceedings of the Fourth International Conference on Cable-Driven Parallel RobotssubmittedsubmitteedAdvances in Mechanism and Machine ScienceModeling of Elastic-Flexible Cables with Time-Varying Length for Cable-Driven Parallel Robotsjsubmitted2019cable-driven modeling dynamics simulation cable-robot kinematics preprint multibody Sat Jan 26 14:42:49 CET 2019Proceedings of the Fourth International Conference on Cable-Driven Parallel RobotssubmittedAdvances in Mechanism and Machine ScienceStatic Analysis of a Two-Platform Planar Cable-Driven Parallel Robot with Unlimited Rotation2019cable-driven modeling cable-robot preprint multibody Thu Jun 30 17:20:16 CEST 2016SwitzerlandROMANSY 21 - Robot Design, Dynamics and Control431--438CISM International Centre for Mechanical Sciences{On the Dynamics and Emergency Stop Behavior of Cable-Driven Parallel Robots}5692016myown cable-driven cable-robot Tue Dec 08 08:42:21 CET 201508SimTech Milestone Report: Improved Modeling of Cables for Kinematics and Dynamics of Cable-driven Parallel Robots2015myown cable-driven dynamics cable-robot kinematics Tue Dec 08 08:34:31 CET 201512SimTech Status Seminar 2014 - Status Update: Improved Modeling of Cables for Kinematics and Dynamics of Light-weight Robots2014myown cable-driven cable-robot 12Tue Dec 08 08:32:26 CET 201511SimTech Status Seminar 2015 - Status Update: Improved Modeling of Cables for Kinematics and Dynamics of Light-weight Robots2015myown cable-driven cable-robot 27Thu Dec 03 18:22:54 CET 2015Machines3223Design and Programming for Cable-Driven Parallel Robots in the German Pavilion at the EXPO 201532015myown cable-driven design expo2015 cable-robot 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.Thu Nov 05 17:29:03 CET 2015{AMM}10419--426Modelling of Kinematics and Dynamics of the {IPAnema} 3 Cable Robot for Simulative Analysis7942015myown cable-driven modeling parallel dynamics cable-robot kinematics robots Thu Nov 05 17:27:00 CET 2015Proceedings of the 14th IFToMM World Congress1014th-2117-123Kinematics and Dynamics Modeling for Real-Time Simulation of the Cable-Driven Parallel Robot IPAnema 32015myown cable-driven modeling parallel dynamics cable-robot kinematics robots 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.