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Cable-driven parallel robots for industrial applications: The IPAnema system family

: Pott, Andreas; Mütherich, Hendrik; Kraus, Werner; Schmidt, Valentin; Miermeister, Philipp; Dietz, Thomas; Verl, Alexander

Preprint urn:nbn:de:0011-n-2740078 (1.1 MByte PDF)
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Erstellt am: 14.1.2014

Lee, Ju-Jang (General Chair); Verl, Alexander (International Program Committee) ; Institute of Electrical and Electronics Engineers -IEEE-; International Federation of Robotics; Korea Advanced Institute of Science and Technology -KAIST-, Seoul:
ISR 2013, 44th International Symposium on Robotics : October 24-26, 2013, Seoul, Korea. Proceedings
Taipei/Taiwan, 2013
6 S.
International Symposium on Robotics (ISR) <44, 2013, Seoul>
European Commission EC
FP7-NMP; 285404; CableBot
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IPA ()
cable-driven parallel robot; paralleler Seilroboter; Seilroboter; IPAnema; CableBot; Parallelroboter; wire 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.