Modeling of Elastic-Flexible Cables with Time-Varying Length for Cable-Driven Parallel Robots

  • Philipp TempelEmail author
  • Dongwon Lee
  • Felix Trautwein
  • Andreas Pott
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 74)


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 Bézier 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.


cable-driven parallel robot cable modeling multi-body simulation symplectic integration 


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The authors Ph.T.and A.P.would like to thank the German Research Foundation (DFG) for financial support of the project within the Cluster of Excellence in Simulation Technology (EXC 310/2) at the University of Stuttgart.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Philipp Tempel
    • 1
    Email author
  • Dongwon Lee
    • 2
  • Felix Trautwein
    • 1
  • Andreas Pott
    • 1
  1. 1.Institute for Control Engineering of Machine Tools and Manufacturing Units ISWUniversity of StuttgartStutttgartGermany
  2. 2.Institute of Applied Mechanics (CE)University of StuttgartStuttgartGermany

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