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Modelling and real-time dynamic simulation of the cable-driven parallel robot IPAnema

: Miermeister, Philipp; Pott, Andreas


Pisla, D. ; International Federation for the Promotion of Mechanism and Machine Science:
New trends in mechanism science. Analysis and design : European Conference on Mechanism Science (EUCOMES 2010 conference); Cluj-Napoca, Romania from 14 to 18 September 2010
Dordrecht: Springer Science+Business Media, 2010 (Mechanisms and Machine Science 5)
ISBN: 978-90-481-9688-3
ISBN: 978-90-481-9689-0
European Conference on Mechanism Science (EUCOMES) <3, 2010, Cluj-Napoca/Romania>
Fraunhofer IPA ()
IPAnema; Seilroboter; Parallelroboter; 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 cable-driven parallel robot IPAnema are presented and compared.