% This file was created with Citavi 6.5.0.0

@inproceedings{Eger.2019,
 author = {Eger, Florian and Tempel, Philipp and Magnanini, Maria Chiara and Reiff, Colin and Colledani, Marcello and Verl, Alexander},
 title = {{Part Variation Modeling in Multi-Stage Production Systems for Zero-Defect Manufacturing}},
 pages = {1017--1022},
 publisher = {IEEE},
 booktitle = {{Industrial Technology (ICIT 2019): 2019 IEEE International Conference on}},
 year = {2019},
 abstract = {Multi-stage production systems concede for low error and failure margins within every single machining and assembly step to not degrade product quality. Especially during multi-stage production of rotating parts, minor defects during a single step can corrupt a workpiece beyond repair. Since multistage production systems are complex, inter-connected chains of machining steps, a global approach to handling and compensating error emergence and propagation is for reaching Zero-Defect Manufacturing indispensable. We introduce Part Variation Modeling within a knowledge capturing platform to monitor centrally gathered metrological data for deviations. Further, a parametric model is presented allowing for description of rotating parts and enabling identification of deviations at every stage. Based on our inter-stage correlation analysis technique, the parametric model enables description of Part Variation Modes of a piece given current machine states and historic deviation likelihood as will be presented.}
}


@article{Port.2017,
 author = {Port, Johannes and Tao, Ziran and Junger, Annika and Joppek, Christoph and Tempel, Philipp and Husemann, Kim and Singer, Florian and Latzin, Philipp and Yammine, Sophie and Nagel, Joachim H. and Kohlh{\"a}ufl, Martin},
 year = {2017},
 title = {{A Simple Method to Reconstruct the Molar Mass Signal of Respiratory Gas to Assess Small Airways with a Double-Tracer Gas Single-Breath Washout}},
 pages = {1975--1987},
 volume = {55},
 number = {11},
 journal = {{Medical {\&} biological engineering {\&} computing}},
 abstract = {For the assessment of small airway diseases, a noninvasive double-tracer gas single-breath washout (DTG-SBW) with sulfur hexafluoride (SF6) and helium (He) as tracer components has been proposed. It is assumed that small airway diseases may produce typical ventilation inhomogeneities which can be detected within one single tidal breath, when using two tracer components. Characteristic parameters calculated from a relative molar mass (MM) signal of the airflow during the washout expiration phase are analyzed. The DTG-SBW signal is acquired by subtracting a reconstructed MM signal without tracer gas from the signal measured with an ultrasonic sensor during in- and exhalation of the double-tracer gas for one tidal breath. In this paper, a simple method to determine the reconstructed MM signal is presented. Measurements on subjects with and without obstructive lung diseases including the small airways have shown high reliability and reproducibility of this method.}
}


@inproceedings{Pott.2019,
 author = {Pott, Andreas and Tempel, Philipp},
 title = {{A Unified Approach to Forward Kinematics for Cable-Driven Parallel Robots Based on Energy}},
 pages = {401--409},
 volume = {8},
 publisher = {Springer},
 isbn = {978-3-319-93187-6},
 series = {{Springer Proceedings in Advanced Robotics}},
 editor = {Lenar{\v{c}}i{\v{c}}, Jadran and Parenti-Castelli, Vincenzo},
 booktitle = {{Advances in Robot Kinematics (ARK 2018): Proceedings of the 2018 16th International Symposium on}},
 year = {2019},
 abstract = {This paper deals with a unified approach to forward kinematics for both over-constrained and under-constrained cable robots. Moreover, little assumptions on the cable model are required. This makes the proposed method applicable to a variety of currently discussed cable models including the standard model, an elastic cable model, static cable sagging, or even finite elements model. Solutions to the forward kinematics problem are computed by minimizing potential energy in the cable robot. As shown in this paper, the method unifies forward kinematics of both over-constrained and under-constrained cable robots.}
}


@inproceedings{Pott.2019c,
 author = {Pott, Andreas and Tempel, Philipp and Verl, Alexander and Wulle, Frederik},
 title = {{Design, Implementation and Long-Term Running Experiences of the Cable-Driven Parallel Robot CaRo Printer}},
 volume = {74},
 publisher = {Springer},
 isbn = {978-3-030-20750-2},
 series = {{Mechanisms and Machine Science}},
 editor = {Pott, Andreas and Bruckmann, Tobias},
 booktitle = {{Cable-Driven Parallel Robots (CableCon 2019): Proceedings of the Fourth International Conference on}},
 year = {2019},
 abstract = {Additive manufacturing has attracted a lot of attention in the recent years as it allows to effectively manufacture objects with complex shape in batch size one. Extrusion-based additive processes employ manipulators, such as robots, to move the printing head along a predefined path. This paper deals with the design, implementation, and experimental evaluation of a new cable-driven parallel robot for additive manufacturing called CaRo printer. We compare the proposed robot structure with other cable robots and present technical details of the evaluation. Technical details on the mechanical and controller design are given. A special focus is laid on practical aspects and observations made from long-term operation of the demonstrator. We present measured data from the long-term operation at the exhibition.}
}


@inproceedings{Reichenbach.2019,
 author = {Reichenbach, Thomas and Tempel, Philipp and Verl, Alexander and Pott, Andreas},
 title = {{Static Analysis of a Two-Platform Planar Cable-Driven Parallel Robot with Unlimited Rotation}},
 volume = {74},
 publisher = {Springer},
 isbn = {978-3-030-20750-2},
 series = {{Mechanisms and Machine Science}},
 editor = {Pott, Andreas and Bruckmann, Tobias},
 booktitle = {{Cable-Driven Parallel Robots (CableCon 2019): Proceedings of the Fourth International Conference on}},
 year = {2019},
 abstract = {Comparing cable-driven parallel robots (short CDPRs or cable robots) with conventional parallel mechanisms, CDPRs have advantages in terms of flexibility, dynamics, and workspace size. In general, the rotational capabilities of parallel mechanisms without any additional actuator system are limited. This paper presents an approach for the design and analysis of a CDPR which allows an unlimited rotation about one axis by actuating solely cables. The unlimited rotation consists of a relative positioning between multiple platforms. The kinematics, static force distribution, and the workspace of a planar cable robot are analyzed. A formulation of the structure matrix for cable robots with multiple platforms is given, allowing to use conventional algorithms for calculation of force distributions. The performed simulation shows different characteristics of the force distribution and workspace of this new type of cable robot contrary to conventional ones. Finally, the conclusion shows that the dextrous workspaces of the investigated CDPR is nonempty.}
}


@inproceedings{Reichenbach.2020,
 author = {Reichenbach, Thomas and Tempel, Philipp and Verl, Alexander and Pott, Andreas},
 title = {{On Kinetostatics and Workspace Analysis of Multi-Platform Cable-Driven Parallel Robots with Unlimited Rotation}},
 pages = {79--90},
 volume = {78},
 publisher = {Springer},
 series = {{Mechanisms and Machine Science}},
 editor = {Kuo, Chin-Hsing and Lin, Pei-Chun and Essomba, Terence and Chen, Guan-Chen},
 booktitle = {{Robotics and Mechatronics (ISRM 2019): Proceedings of the 6th IFToMM International Symposium on}},
 year = {2020},
 abstract = {Cable-driven parallel robots are a special kind of parallel mechanism which use cables instead of rigid prismatic actuators to control a single platform. This paper presents a modeling approach to replace the single platform by multiple platforms. With this approach, it is possible to perform unlimited rotation with cable robots end-effector by relatively positioning these multiple platforms. We show how this class of cable robots can be modeled as multibody system, where platforms are connected with linkages by using revolute joints. These linkages can be seen as coupling elements. For example, using a crankshaft as coupling element, cable robots can perform novel motions such as unlimited rotation. We find a generic approach describing such multi-platform cable robot systems, after which force distribution and workspace of a case study are analyzed. Finally, we find out that inclusion and total orientation workspace are nonempty, considering joint reaction forces and platform and linkage masses. Furthermore, our modeling approach can be used for spatial multi-platform cable robots with revolute joints.}
}


@article{Reiff.2019,
 author = {Reiff, Colin and Eger, Florian and Tempel, Philipp and Magnanini, Maria Chiara and Ortiz, Jon Ander and Colledani, Marcello and Verl, Alexander and Sarries, I{\~n}igo},
 year = {2019},
 title = {{Smart Centering for Rotation-Symmetric Parts in Multi-Stage Production Systems for Zero-Defect Manufacturing}},
 pages = {27--32},
 volume = {79},
 journal = {{Procedia CIRP}},
 abstract = {During manufacturing, geometrical deviations occur, e.g. due to heating processes. In multi-stage production systems, these errors propagate and lead to expensive rework or, even, to unusable products. In this paper, a method for smart centering of rotation-symmetric parts is introduced. The method is used in the scope of achieving zero-defect manufacturing processes. For this purpose, the products are measured and automatically compared with the required specifications. Based on the identified deviations, process parameters can be adapted and thus, defects can be compensated in downstream production steps. The method is exemplified in the context of an industrial use case.}
}


@phdthesis{Tempel.2012,
 author = {Tempel, Philipp},
 year = {2012},
 title = {{Design of Decentralized Control Unit for an Optical Mirror Using Loop Transfer Recovery}},
 address = {Stuttgart, Germany},
 publisher = {Institute for System Dynamics},
 school = {{University of Stuttgart}}
}


@booklet{Tempel.2014,
 author = {Tempel, Philipp},
 year = {2014},
 title = {{Improved Modeling of Cables for Kinematics and Dynamics of Light-Weight Robots: Kinematics Modeling of Large-Scale Cable-driven Parallel Robots: Milestone Report}},
 address = {Stuttgart,~Germany},
 abstract = {Cables, such as these used to drive a cable-driven parallel robot's platform, are therein generally considered massless, straight lines between two points neglecting major dynamics. This assumption holds true for some cable robots, however for others, the effects on the platform's behavior due to cables having mass cannot be neglected. It is a challenging question to investigate the impact of a comprehensive detailed cable model on the performance of cabledriven parallel robots.}
}


@misc{Tempel.2014b,
 author = {Tempel, Philipp},
 year = {2014},
 title = {{Improved Modeling of Cables for Kinematics and Dynamics of Cable-Driven Parallel Robots: Status Update}},
 address = {Bad~Boll, Germany},
 series = {{SimTech Status Seminars}}
}


@booklet{Tempel.2015,
 author = {Tempel, Philipp},
 year = {2015},
 title = {{Improved Modeling of Cables for Kinematics and Dynamics of Light-Weight Robots: Experimental Validation of a Real-Time Capable Cable Robot Simulation Model: Poster}},
 address = {Bad~Boll, Germany},
 series = {{SimTech Status Seminars}}
}


@misc{Tempel.2015b,
 author = {Tempel, Philipp},
 year = {2015},
 title = {{Improved Modeling of Cables for Kinematics and Dynamics of Light-Weight Robots: Status Update}},
 address = {Bad~Boll, Germany},
 series = {{SimTech Status Seminars}}
}


@misc{Tempel.2015c,
 author = {Tempel, Philipp},
 year = {2015},
 title = {{Improved Modeling of Cables for Kinematics and Dynamics of Cable-Driven Parallel Robots: Milestone Presentation}},
 address = {Stuttgart,~Germany}
}


@inproceedings{Tempel.2015d,
 author = {Tempel, Philipp and Miermeister, Philipp and Pott, Andreas},
 title = {{Kinematics and Dynamics Modeling for Real-Time Simulation of the Cable-Driven Parallel Robot IPAnema 3}},
 pages = {117--123},
 volume = {2},
 publisher = {{airiti Library}},
 booktitle = {{Mechanism and Machine Science 2015: Proceedings of the 14th IFToMM World Congress on}},
 year = {2015},
 abstract = {In this paper, the kinematics and dynamics modeling of the mechatronic model for a 6 DOF cabledriven parallel robot are covered and a real-time capable simulation model for such robots is derived. The governing equations of motion of the mobile platform are acquired using Newton-Euler formalism, furthermore, the pulley kinematics of the winches and a spring-damper based cable model are introduced. Once the equations of motion are derived, closed-form force distribution is implemented and simulation results of the real-time capable model for the cable-driven parallel robot IPAnema 3 is presented. Given the real-time capability, the established model can be used for hardware-in-the-loop simulation or controller design, but also for case studies of highly dynamic or large-scale robots.}
}


@article{Tempel.2015e,
 author = {Tempel, Philipp and Miermeister, Philipp and Lechler, Armin and Pott, Andreas},
 year = {2015},
 title = {{Modelling of Kinematics and Dynamics of the IPAnema 3 Cable Robot for Simulative Analysis}},
 pages = {419--426},
 volume = {794},
 journal = {{Applied Mechanics and Materials}},
 abstract = {This paper covers the kinematics and dynamics modelling ofthe mechatronic model for a 6 DOF cable-driven parallel robot and derives a real-time capable simulation model for such robots. The governing equations of motion for the mobile platform are derived using Newton-Euler formalism, furthermore, the pulley kinematics ofthe winches and a linear spring-damper-based cable model.Once the equations of motion are derived, closed-form force distribution is implemented and simulation results of the real-time capable model for the cable-driven parallel robot IPAnema3 are presented. Given the real-time capability, the presented model can be used for hardware-in-the-loop simulation or controller design, but also for case studies of highly dynamic or large-scale robots.}
}


@booklet{Tempel.2015f,
 author = {Tempel, Philipp and Pott, Andreas},
 year = {2015},
 title = {{Stuttgarter Simulationsforscher bei EXPO 2015 in Mailand: Simulation Technology Success Stories}},
 address = {Stuttgart,~Germany},
 abstract = {Research in Stuttgart made accessible and comprehensible to the world at the universal exposition Expo 2015 in Milan.}
}


@article{Tempel.2015g,
 author = {Tempel, Philipp and Schnelle, Fabian and Pott, Andreas and Eberhard, Peter},
 year = {2015},
 title = {{Design and Programming for Cable-Driven Parallel Robots in the German Pavilion at the EXPO 2015}},
 pages = {223--241},
 volume = {3},
 number = {3},
 journal = {{Machines}},
 abstract = {In the German Pavilion at the EXPO 2015, two large cable-driven parallel robots are flying over the heads of the visitors representing two bees flying over Germany and displaying everyday life in Germany. Each robot consists of a mobile platform and eight cables suspended by winches and follows a desired trajectory, which needs to be computed in advance taking technical limitations, safety considerations and visual aspects into account. In this paper, a path planning software is presented, which includes the design process from developing a robot design and workspace estimation via planning complex trajectories considering technical limitations through to exporting a complete show. For a test trajectory, simulation results are given, which display the relevant trajectories and cable force distributions.}
}


@misc{Tempel.2016,
 author = {Tempel, Philipp},
 year = {2016},
 title = {{Cable-Driven Parallel Robots: Expo 2015 - Forth and Back Again}},
 address = {Bad~Boll, Germany},
 series = {{SimTech Status Seminars}}
}


@booklet{Tempel.2016b,
 author = {Tempel, Philipp},
 year = {2016},
 title = {{Improved Modeling of Cables for Kinematics and Dynamics of Light-Weight Robots: Modeling of Force Distribution along Kinematic Loops Including Pulley Friction: Poster}},
 address = {Bad~Boll, Germany},
 series = {{SimTech Status Seminars}}
}


@booklet{Tempel.2016c,
 author = {Tempel, Philipp},
 year = {2016},
 title = {{Improved Modeling of Cables for Kinematics and Dynamics of Cable-Driven Parallel Robots: Milestone Report}},
 address = {Stuttgart,~Germany}
}


@misc{Tempel.2016d,
 author = {Tempel, Philipp},
 year = {2016},
 title = {{Improved Modeling of Cables for Kinematics and Dynamics of Light-Weight Robots}},
 address = {Stuttgart,~Germany},
 series = {{CNU RRI {\&} FhG IPA JRL: Cable Robot Colloquium}}
}


@booklet{Tempel.2016e,
 author = {Tempel, Philipp},
 year = {2016},
 title = {{Modeling of Cable-Driven Parallel Robots with Hefty Cables: Research Visit Report}},
 address = {Stuttgart,~Germany}
}


@article{Tempel.2016f,
 author = {Tempel, Philipp and Pott, Andreas},
 year = {2016},
 title = {{Parallele Seilroboter in Theorie und Praxis: Leichtbau, Energieeffizienz und hohe Dynamiken als Potential, Elastizit{\"a}t als Hauptherausforderung}},
 pages = {643--647},
 volume = {106},
 number = {9},
 journal = {{wt Werkstatttechnik online}},
 abstract = {Having high payload capacity, cable-driven parallel robots can move over large workspaces at high dynamics enabling this technology to be used for tasks beyond the possibilities of conventional industrial robots. The forces required for motion are generated by winches and are applied to the end effector by means of cables. Elasticity and flexibility of those cables provides a lot of potential - for theory and practice. Understanding the predominant influence of the cable's dynamics on the movement of cable robots is a key challenge faced in this project.}
}


@inproceedings{Tempel.2016g,
 author = {Tempel, Philipp and Verl, Alexander and Pott, Andreas},
 title = {{On the Dynamics and Emergency Stop Behavior of Cable-Driven Parallel Robots}},
 pages = {431--438},
 volume = {569},
 publisher = {Springer},
 isbn = {978-3-319-33713-5},
 series = {{CISM International Centre for Mechanical Sciences}},
 editor = {Parenti-Castelli, Vincenzo and Schiehlen, Werner},
 booktitle = {{ROMANSY 21: Proceedings of the 21st CISM-IFToMM Symposium}},
 year = {2016},
 abstract = {High dynamics of cable-driven parallel robots are beneficial to their use, however, the behavior of such robots during extreme maneuvers is yet to be investigated. In this paper, a simulation model is presented and validated in order to assess the emergency stop behavior of cable robots by simulation. Simulation results are evaluated using spectral analysis and validated against experimental data of a medium-sized redundantly restrained cable robot. The correctness and limitations of the model's accuracy in a range of the actual system's dynamics are furthermore shown.}
}


@booklet{Tempel.2017,
 author = {Tempel, Philipp},
 year = {2017},
 title = {{Improved Modeling of Cables for Kinematics and Dynamics of Light-Weight Robots: Comparison of Rigid-Finite-Element and Rayleigh-Ritz Based Cable Models: Poster}},
 address = {Bad~Boll, Germany},
 series = {{SimTech Status Seminars}}
}


@inproceedings{Tempel.2017b,
 author = {Tempel, Philipp and Herv{\'e}, Pierre-Elie and Tempier, Olivier and Gouttefarde, Marc and Pott, Andreas},
 title = {{Estimating Inertial Parameters of Suspended Cable-Driven Parallel Robots: Use Case on CoGiRo}},
 pages = {6093--6098},
 publisher = {IEEE},
 isbn = {978-1-5090-4633-1},
 booktitle = {{Robotics and Automation (ICRA 2017): 2017 IEEE/RAS International Conference on}},
 year = {2017},
 abstract = {Model based open-loop and closed-loop control systems make use of the system's inertial parameters. Unfortunately, not all of these values can be determined analytically nor can they be obtained from simple measurements. Established experiments for inertial parameters estimation have been applied to serial and parallel rigid-link manipulators, yet in very few cases to cable-driven parallel robots. Due to their kinematic properties and their unique setup, cable robots are more sensitive to incorrect estimates of the inertial parameters making it important to obtain such quantities through experiments. In this work, we assess the topic of inertial parameter identification of a parallel flexible-link manipulator exemplified by the suspended cable-driven parallel robot COGIRO. Identification equations are derived from Newton-Euler equations of motion of an arbitrary point fixed to a rigid-body. Laboratory experiments for identification of the inertial parameters are then introduced and results are presented. Within the limitations of the sensors and data acquisition methods, reasonable results have been obtained, thereby validating the procedure for suspended cabledriven parallel robots.}
}


@misc{Tempel.2018,
 author = {Tempel, Philipp},
 year = {2018},
 title = {{Modeling Dynamics of Cables for Use in Cable-Driven Parallel Robots}},
 address = {Stuttgart,~Germany},
 series = {{2nd International Conference on Simulation Technology -- March 26th-28th 2018}}
}


@misc{Tempel.2018b,
 author = {Tempel, Philipp},
 year = {2018},
 title = {{The Dynamics of Cable-Driven Parallel Robots with Elastic and Flexible, Time-Varying Length Cables}},
 address = {Stuttgart,~Germany},
 series = {{CNU RRI {\&} FhG IPA JRL: Cable Robot Colloquium}}
}


@inproceedings{Tempel.2018c,
 author = {Tempel, Philipp and Schmidt, Andreas and Haasdonk, Bernard and Pott, Andreas},
 title = {{Application of the Rigid Finite Element Method to the Simulation of Cable-Driven Parallel Robots}},
 pages = {198--205},
 publisher = {Springer},
 isbn = {978-3-319-60867-9},
 series = {{Mechanisms and Machine Science}},
 editor = {Zeghloul, Sa{\"i}d and Romdhane, Lotfi and Laribi, Med Amine},
 booktitle = {{Computational Kinematics (CK 2017): Proceedings of the 7th International Workshop on}},
 year = {2018},
 abstract = {Kinematics and dynamics of cable-driven parallel robots are affected by the cables used as force and motion transmitting elements. Flexural rigidity of these cables is of major interest to better understand dynamics of these systems and to improve their accuracy. The approach for modeling spatial cable dynamics, as presented in this paper, is based on the modified rigid-finite element method using rigid bodies and springdamper elements. With this, a simulation of a planar 3 degrees of freedom cable-driven parallel robot is constructed as a multi-body dynamics model. Under consideration of holonomic constraints and Baumgarte stabilization, a simulation framework for the simulation of cable-driven parallel robots including dynamics of the cables is developed and presented.}
}


@book{Tempel.2019,
 author = {Tempel, Philipp},
 year = {2019},
 title = {{Dynamics of Cable-Driven Parallel Robots with Elastic and Flexible, Time-Varying Length Cables}},
 address = {Stuttgart},
 volume = {94},
 publisher = {{Fraunhofer Verlag}},
 isbn = {978-3-8396-1536-2},
 series = {{Stuttgarter Beitr{\"a}ge zur Produktionsforschung}},
 institution = {{University of Stuttgart}},
 abstract = {Cable-driven parallel robots are a special class of parallel manipulators with prismatic rigid-link actuators replaced by flexible and elastic fiber cables. However, this in nature simple replacement of motion and force transmitting components, results in drastic implications on the kinematics and dynamics of such robots. Not only are cables noticeably lighter than their rigid-link counterparts, but they are also more elastic and flexible which becomes very apparent when spanning a cable between two points: cable sag is induced by the cable's own weight, a behavior that cannot be compensated for completely. Incommodiously, these two properties---elasticity and flexibility---of fiber cables makes operating cable-driven parallel robots more involved than anticipated from their rigidlink counterparts and is still an active research field. In this thesis, particular focus is placed on the dynamics of cable-driven parallel robots under explicit consideration of cables and their spatial and axial dynamics.

For the purpose of designing and controlling cable robots, we derive a full multibody model of cable robots describing spatial cable motion by means of Cosserat rod theory. Borrowed from classical mechanics, Cosserat rods capture large elastic deformations such as strain and bending allowing for describing motion of cables in space. The equations of motion are discretized using Rayleigh-Ritz's approach to turn the continuum ``cable'' into a finite-dimensional model. Reference for evaluation of the cable and robot model are classical beam theory much like well-established methods of cable robot kinetostatics and of cable force distribution calculations. Numerical results of the robot dynamics are obtained with an energy and momentum conserving mechanical integrator for constrained multibody systems.

Axial stress-strain dynamics of fiber cables show hysteretic and nonlinear behavior which cannot be represented by a purely linear spring. We propose theoretically and investigate experimentally an analogous model based on multiple springs and dampers, that captures hysteretic behavior and stress relaxation well. Its elastic and viscous material parameters are estimated using transfer function identification.

Both contributions provide valid models for further considerations in modeling, simulation, and control of cable-driven parallel robots.}
}


@inproceedings{Tempel.2019b,
 author = {Tempel, Philipp and Lee, Dongwon and Trautwein, Felix and Pott, Andreas},
 title = {{Modeling of Elastic-Flexible Cables with Time-Varying Length for Cable-Driven Parallel Robots}},
 pages = {295--306},
 volume = {74},
 publisher = {Springer},
 isbn = {978-3-030-20750-2},
 series = {{Mechanisms and Machine Science}},
 editor = {Pott, Andreas and Bruckmann, Tobias},
 booktitle = {{Cable-Driven Parallel Robots (CableCon 2019): Proceedings of the Fourth International Conference on}},
 year = {2019},
 abstract = {Cable-driven parallel robots use elastic-flexible cables for operation due to their advantages over rigid-link joints. In state-of-the-art modeling of cable-driven parallel robots, cables are mostly kinematics based and contain no explicit consideration of their dynamics. Experimental observations show these simplifications do not hold true in various scenarios where the cable-driven parallel robot becomes uncontrollable. We revisit the kinematics-based cable models and present a cable model empowering Cosserat rod theory for which the deflected configuration is formulated through higher-order B{\'e}zier curves. Numerical time integration of the dynamics is performed using an energy-momentum conserving integration scheme. The applicability of our cable model is exemplified on a planar cable robot with 3 degrees of freedom.}
}


@inproceedings{Tempel.2019c,
 author = {Tempel, Philipp and Trautwein, Felix and Pott, Andreas},
 title = {{Experimental Identification of Stress-Strain Material Models of UHMWPE Fiber Cables for Improving Cable Tension Control Strategies}},
 pages = {258--265},
 volume = {8},
 publisher = {Springer},
 isbn = {978-3-319-93187-6},
 series = {{Springer Proceedings in Advanced Robotics}},
 editor = {Lenar{\v{c}}i{\v{c}}, Jadran and Parenti-Castelli, Vincenzo},
 booktitle = {{Advances in Robot Kinematics (ARK 2018): Proceedings of the 2018 16th International Symposium on}},
 year = {2019},
 abstract = {Ultra-high-molecular-weight polyethylene fibers like Dyneema or Spectra are employed in a vast variety of cable-driven parallel robots. The stress-strain dynamics of such cables are highly non-linear with time-varying mechanical parameters, resulting in involved modeling and control of robot dynamics. To improve controllability of cable robots, the cable stress-strain dynamics need to be known and explicitly considered feedforward or closed-loop control. A model can only be deemed suitable, if its inherent dynamics is confirmed through experiments and if it allows for reasonable parameter estimation. We present results of experimental identification of stress-strain dynamics of UHMWPE cables made of Dyneema in different stages of operation. Due to the internal material mechanics, four stages can be identified: the tensing and relaxing transition as well as plateaus coming from either. The implications of verified and parametrized stress-strain models for cable robot tension control strategies is expedited.}
}


@inproceedings{Tempel.2020,
 author = {Tempel, Philipp and Alfeld, Matthias and van der Wijk, Volkert},
 title = {{Design and Analysis of Cable-Driven Parallel Robot CaRISA: a Cable Robot for Inspecting and Scanning Artwork}},
 pages = {136--144},
 volume = {601},
 publisher = {{Springer Nature} and {Springer International Publishing}},
 series = {{CISM International Centre for Mechanical Sciences}},
 editor = {Venture, Gentiane and Solis, Jorge and Takeda, Yukio and Konno, Atsushi},
 booktitle = {{ROMANSY 23 - Robot Design, Dynamics and Control: Proceedings of the 3rd CISM IFToMM Symposium}},
 year = {2021},
 abstract = {Cultural heritage science envisages understanding of methods and techniques used by past painters and sculptors in creating their masterpieces of art. Existing devices for in situ and non-destructive, automated scanning are large and bulky and built around the assumption of a perfectly planar surface. We are developing a lightweight, portable robot for scanning of paintings, marbles, or statues while explicitly allowing for their out-of-plane surface. This paper presents the kinematic design and analysis of the wrench-feasible workspace of a cable-driven parallel robot capable of positioning an imaging device with three translational and two rotational degrees of freedom. At the end stand geometric parameters optimized for the application requirements allowing for pan and tilt of 70° each in total, making scanning of the spatial surface of art objects possible.}
}


@inproceedings{Trautwein.2018,
 author = {Trautwein, Felix and Tempel, Philipp and Pott, Andreas},
 title = {{A Symbolic-Numeric Method to Capture the Impact of Varied Geometrical Parameters on the Translational Workspace of a Planar Cable-Driven Parallel Robot}},
 pages = {1--7},
 publisher = {IEEE},
 isbn = {978-1-5386-6380-6},
 editor = {Herder, Just L. and van der Wijk, Volkert},
 booktitle = {{Reconfigurable Mechanisms and Robots (ReMAR): 2018 IEEE~International Conference on}},
 year = {2018},
 abstract = {In this paper, an approach to capture and visualize the impact of a geometrical adjustments of a cabledriven parallel robot is presented. This method combines the precision of an analytic description with the efficiency of numeric methods. The translational workspace of the robot, corresponding to a set of geometrical parameters, is determined by a piecewise assembly of boundary segments. The intersections of the curves, defining the workspace border, are computed by utilizing their shape as conic sections. Calculation examples are also given, comparing the impact of different parameter sets on the workspace.}
}


@inproceedings{Trautwein.2020,
 author = {Trautwein, Felix and Reichenbach, Thomas and Tempel, Philipp and Pott, Andreas and Verl, Alexander},
 title = {{COPacabana: Ein modularer paralleler Seilroboter}},
 isbn = {978-3-940402-28-8},
 editor = {Pfurner, Martin and Dohnal, Fadi},
 booktitle = {{Sechste IFToMM D-A-CH Konferenz 2020}},
 year = {2020},
 abstract = {Due to their use of modular components, cable-driven parallel robots are prime candidates for use as reconfigurable robotic manipulators. Reconfiguration comprises both the change of the geometry as well as topological changes such as adding or removing axes. To validate practicability of methods for reconfiguration, we developed the reconfigurable cable-driven parallel robot Cable-Operated Parallel Robot (COPacabana). This paper presents the mechanical design as well as the hardware and software in use on the test rig. Further use cases for validation of research findings are presented as well.}
}