Abstract
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 robot 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.
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Acknowledgments
This work was partially supported by the Fraunhofer-Gesellschaft Internal Programs under Grant No. WISA 823 244. Furthermore, the research leading to these results received founding for the European Community’s Seventh Framework Program under grant agreement number NMP2-SL-2011-285404-CableBot.
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Pott, A., Mütherich, H., Kraus, W., Schmidt, V., Miermeister, P., Verl, A. (2013). IPAnema: A family of Cable-Driven Parallel Robots for Industrial Applications. In: Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 12. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31988-4_8
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DOI: https://doi.org/10.1007/978-3-642-31988-4_8
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