Miermeister, PhilippPhilippMiermeisterPott, AndreasAndreasPottVerl, AlexanderAlexanderVerl2022-03-112022-03-112010https://publica.fraunhofer.de/handle/publica/3670362-s2.0-84881464394In 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.enIPAnemaSeilroboterRoboterSimulation629conference paper