@article{Tempel.2015g,
 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.},
 author = {Tempel, Philipp and Schnelle, Fabian and Pott, Andreas and Eberhard, Peter},
 journal = {Machines},
 number = {3},
 pages = {223--241},
 title = {Design and Programming for Cable-Driven Parallel Robots in the German Pavilion at the EXPO 2015},
 volume = {3},
 year = {2015}
}