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Dynamic modeling and hardware-in-the-loop simulation for the cable-driven parallel robot IPAnema

: Miermeister, Philipp; Pott, Andreas; Verl, Alexander

Informationstechnische Gesellschaft -ITG-, Information Technology Society of VDE; Verband Deutscher Maschinen- und Anlagenbau e.V. -VDMA-, Fachverband Robotik und Automation, Frankfurt/Main; International Federation of Robotics; Deutsche Gesellschaft für Robotik -DGR-:
ISR/ROBOTIK 2010, Proceedings for the joint conference of ISR 2010, 41st International Symposium on Robotics und ROBOTIK 2010, 6th German Conference on Robotics : 7-9 June 2010 - Parallel to AUTOMATICA
Berlin: VDE-Verlag, 2010
ISBN: 978-3-8007-3273-9
International Symposium on Robotics (ISR) <41, 2010, Munich>
German Conference on Robotics (ROBOTIK) <6, 2010, Munich>
Internationale Fachmesse für Automation und Mechatronik (Automatica) <4, 2010, Munich>
Fraunhofer IPA ()
IPAnema; Seilroboter; Roboter; Simulation

In this paper, the mechatronic model of the cable-driven parallel robot IPAnema is presented. The dynamic equations are established including the dynamic behavior of the mobile platform, the pulley kinematics of the winches, and a cable model based on linear springs. The model of the actuation systems consists of the electro-dynamic behavior of the power train as well as the dynamics of the servo controller. The presented model is feasible for real-time simulation, controller design, as well as case studies for high-dynamic or large-scale robots. Simulation results and experimental measurements with the parallel robot IPAnema are presented and compared.