Hier finden Sie wissenschaftliche Publikationen aus den Fraunhofer-Instituten.

IPAnema: A family of cable-driven parallel robots for industrial applications

: Pott, Andreas


Tobias Bruckmann (Ed.); Pott, Andreas (Ed.) ; International Federation for the Promotion of Mechanism and Machine Science:
Cable-driven parallel robots : First International Conference on Cable-Driven Parallel Robots in Stuttgart, Germany
Berlin: Springer, 2013 (Mechanisms and Machine Science 12)
ISBN: 978-3-642-31987-7
ISBN: 978-3-642-31988-4
DOI: 10.1007/978-3-642-31988-4
International Conference on Cable-Driven Parallel Robots <1, 2012, Stuttgart>
Fraunhofer IPA ()
IPAnema; Parallelroboter; Seilroboter; Steifigkeit; wire robot; industrial robot; cable-driven parallel robot; Roboter; Industrieroboter

Nowadays there are very little robot systems in operation in the field of medium to large-scale handling and assembly mostly due to lack of repetitive processes or shortcomings in programming and configuring such robots. In this paper we introduce a family of cable-driven parallel robots called IPAnema that are designed for industrial processes. We address the system architecture, key components such as winches and controller, as well as design tools. Furthermore, some experimental data from the evaluation are presented to illustrate the performance of cable robots.