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Modelling of kinematics and dynamics of the IPAnema 3 cable robot for simulative analysis

: Tempel, Philipp Thomas; Miermeister, Philipp; Lechler, Armin; Pott, Andreas


Wulfsberg, J.P.:
Progress in Production Engineering : Selected, peer reviewed papers from the 2015 WGP Congress, September 7-8, 2015, Hamburg, Germany
Dürnten: Trans Tech Publications, 2015 (Applied mechanics and materials 794)
ISBN: 978-3-03835-616-5 (Print)
ISBN: 978-3-03859-410-9 (CD-ROM)
ISBN: 978-3-0357-0095-4 (eBook)
Wissenschaftliche Gesellschaft für Produktionstechnik (WGP Congress) <5, 2015, Hamburg>
Conference Paper
Fraunhofer IPA ()
cable-driven parallel robot; simulation; Kinematik; simulation model

This paper covers the kinematics and dynamics modelling of the mechatronic model for a 6 DOF cable-driven parallel robot and derives a real-time capable simulation model for such robots. The governing equations of motion for the platform are derived using Newton-Euler formalism, furthermore, the pulley kinematics of the winches and a linear spring-damper based cable model is 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 IPAnema3 are presented. Given the real-time capability, the presented 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.