Improved Modeling of Kinematics and Dynamics of Light-Weight Parallel Robots

Philipp Tempel, Andreas Pott
Last updated on Oct 7, 2020
cable robot
Philipp Tempel
Philipp Tempel
Postdoctoral Research Associate

My research interests include continuum and flexible robots, multibody system simulation, and mechanical integrators.

Related

Publications

A Unified Approach to Forward Kinematics for Cable-Driven Parallel Robots Based on Energy
This paper deals with a unified approach to forward kinematics for both over-constrained and under-constrained cable robots. Moreover, …
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Dynamics of Cable-Driven Parallel Robots with Elastic and Flexible, Time-Varying Length Cables
Cable-driven parallel robots are a special class of parallel manipulators with prismatic rigid-link actuators replaced by flexible and …
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Experimental Identification of Stress-Strain Material Models of UHMWPE Fiber Cables for Improving Cable Tension Control Strategies
Ultra-high-molecular-weight polyethylene fibers like Dyneema or Spectra are employed in a vast variety of cable-driven parallel robots. …
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Modeling of Elastic-Flexible Cables with Time-Varying Length for Cable-Driven Parallel Robots
Cable-driven parallel robots use elastic-flexible cables for operation due to their advantages over rigid-link joints. In …
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Application of the Rigid Finite Element Method to the Simulation of Cable-Driven Parallel Robots
Kinematics and dynamics of cable-driven parallel robots are affected by the cables used as force and motion transmitting elements. …
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Modeling Dynamics of Cables for Use in Cable-Driven Parallel Robots
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The Dynamics of Cable-Driven Parallel Robots with Elastic and Flexible, Time-Varying Length Cables
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Estimating Inertial Parameters of Suspended Cable-Driven Parallel Robots: Use Case on CoGiRo
Model based open-loop and closed-loop control systems make use of the system’s inertial parameters. Unfortunately, not all of …
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Improved Modeling of Cables for Kinematics and Dynamics of Light-Weight Robots: Comparison of Rigid-Finite-Element and Rayleigh-Ritz Based Cable Models: Poster
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Cable-Driven Parallel Robots: Expo 2015 - Forth and Back Again
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Improved Modeling of Cables for Kinematics and Dynamics of Cable-Driven Parallel Robots: Milestone Report
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Improved Modeling of Cables for Kinematics and Dynamics of Light-Weight Robots
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Improved Modeling of Cables for Kinematics and Dynamics of Light-Weight Robots: Modeling of Force Distribution along Kinematic Loops Including Pulley Friction: Poster
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Modeling of Cable-Driven Parallel Robots with Hefty Cables: Research Visit Report
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On the Dynamics and Emergency Stop Behavior of Cable-Driven Parallel Robots
High dynamics of cable-driven parallel robots are beneficial to their use, however, the behavior of such robots during extreme …
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Parallele Seilroboter in Theorie und Praxis: Leichtbau, Energieeffizienz und hohe Dynamiken als Potential, Elastizität als Hauptherausforderung
Having high payload capacity, cable-driven parallel robots can move over large workspaces at high dynamics enabling this technology to …
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Design and Programming for Cable-Driven Parallel Robots in the German Pavilion at the EXPO 2015
In the German Pavilion at the EXPO 2015, two large cable-driven parallel robots are flying over the heads of the visitors representing …
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Improved Modeling of Cables for Kinematics and Dynamics of Cable-Driven Parallel Robots: Milestone Presentation
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Improved Modeling of Cables for Kinematics and Dynamics of Light-Weight Robots: Experimental Validation of a Real-Time Capable Cable Robot Simulation Model: Poster
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Improved Modeling of Cables for Kinematics and Dynamics of Light-Weight Robots: Status Update
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Kinematics and Dynamics Modeling for Real-Time Simulation of the Cable-Driven Parallel Robot IPAnema 3
In this paper, the kinematics and dynamics modeling of the mechatronic model for a 6 DOF cable-driven parallel robot are covered and a …
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Modelling of Kinematics and Dynamics of the IPAnema 3 Cable Robot for Simulative Analysis
This paper covers the kinematics and dynamics modelling of the mechatronic model for a 6 DOF cable-driven parallel robot and derives a …
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Stuttgarter Simulationsforscher bei EXPO 2015 in Mailand: Simulation Technology Success Stories
Research in Stuttgart made accessible and comprehensible to the world at the universal exposition Expo 2015 in Milan.
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Improved Modeling of Cables for Kinematics and Dynamics of Cable-Driven Parallel Robots: Status Update
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Improved Modeling of Cables for Kinematics and Dynamics of Light-Weight Robots: Kinematics Modeling of Large-Scale Cable-driven Parallel Robots: Milestone Report
Cables, such as these used to drive a cable-driven parallel robot’s platform, are therein generally considered massless, straight …
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