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An elastic cable model for cable-driven parallel robots including hysteresis effects

: Miermeister, Philipp; Kraus, Werner; Lan, Tian; Pott, Andreas


Pott, Andreas (Ed.); Bruckmann, Tobias (Ed.) ; Fraunhofer-Institut für Produktionstechnik und Automatisierung -IPA-, Stuttgart; Univ. Duisburg-Essen:
Cable-Driven Parallel Robots : Proceedings of the Second International Conference on Cable-Driven Parallel Robots. 24 - 27th August 2014, Duisburg
Cham: Springer International Publishing, 2015 (Mechanisms and Machine Science 32)
ISBN: 978-3-319-09488-5 (Print)
eISBN: 978-3-319-09489-2 (Online)
DOI: 10.1007/978-3-319-09489-2
International Conference on Cable-Driven Parallel Robots (CableCon) <2, 2014, Duisburg>
European Commission EC
FP7; 285404; CableBot
Fraunhofer IPA ()
Parallelroboter; Roboter; Industrieroboter; Kunststoff; elektrisches Kabel

Experimental results indicate that time invariant linear elastic models for cable-driven parallel robots show a significant error in the force prediction during operation. This paper proposes the use of an extended model for polymer cables which allows to regard the hysteresis effects depending on the excitation amplitude, frequency, and initial tension level. The experimental design as well as the parameter identification are regarded.