Design, Implementation and Long-Term Running Experiences of the Cable-Driven Parallel Robot CaRo Printer

  • Andreas Pott
  • Philipp Tempel
  • Alexander Verl
  • Frederik WulleEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 74)


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.


cable-driven parallel robot additive manufacturing 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.



The authors would like to thank the German Research Foundation (DFG) for financial support of the project within the Transregional Collaborative Research Centre (SFB/TRR) 141 “Biological Design and Integrative Structures” and partial support by the DFG under Germany’s Excellence Strategy in Simulation Technology (EXC 310/1) and in IntCDC (EXC 2120/1 – 390831618) at the University of Stuttgart.


  1. [1]
    Albus, J. S., Bostelman, R. V., and Dagalakis, N. G., 1993. “The NIST ROBOCRANE”. Journal of Robotic Systems, 10(5), pp. 709–724.CrossRefGoogle Scholar
  2. [2]
    Khoshnevis, B., 2004. “Automated construction by contour crafting—related robotics and information technologies”. Automation in Construction, 13(1), pp. 5–19.CrossRefGoogle Scholar
  3. [3]
    Li, H., Sun, J., Pan, G., and Yang, Q., 2018. “Preliminary running and performance test of the huge cable robot of FAST telescope”. In Cable-driven Parallel Robots, Vol. 53. pp. 402–414.Google Scholar
  4. [4]
    Lamaury, J., and Gouttefarde, M., 2013. “Control of a large redundantly actuated cable-suspended parallel robot”. In IEEE International Conference on Robotics and Automation, 2013, pp. 4659–4664.Google Scholar
  5. [5]
    Pott, A., Mütherich, H., Kraus, W., Schmidt, V., Miermeister, P., and Verl, A., 2013. “IPAnema: A family of Cable-Driven Parallel Robots for Industrial Applications”. In Cable-Driven Parallel Robots, Mechanisms and Machine Science, Springer, pp. 119–134.Google Scholar
  6. [6]
    Tempel, P., Schnelle, F., Pott, A., and Eberhard, P., 2015. “Design and Programming for Cable-Driven Parallel Robots in the German Pavilion at the EXPO 2015”. Machines, 3(3), pp. 223–241.CrossRefGoogle Scholar
  7. [7]
    Miermeister, P., Lӓchele, M., Boss, R., Masone, C., Schenk, C., Tesch, J., Kerger, M., Teufel, H., Pott, A., and Bulthoff, H. H., 2016. “The CableRobot Simulator: Large Scale Motion Platform Based on Cable Robot Technology”. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3024–3029.Google Scholar
  8. [8]
    Bosscher, P., Williams II, R. L., Bryson, L. S., and Castro-Lacouture, D., 2007. “Cable-suspended robotic contour crafting system”. Automation in Construction, 17(1), pp. 45–55.Google Scholar
  9. [9]
    Bosscher, P. M., and Williams II, R. L., 2009. Apparatus and Method Associated with Cable Robot System.Google Scholar
  10. [10]
    Izard, J.-B., Dubor, A., Herv´e, P.-E., Cabay, E., Culla, D., Rodriguez, M., and Barrado, M., 2017. “Large-scale 3D printing with cable-driven parallel robots”. Construction Robotics, 7(1), p. 27.Google Scholar
  11. [11]
    Izard, J.-B.Barnett, E., and Gosselin, Cl´ement, 2017. “Large-scale 3D printing with a cable-suspended robot”. Additive Manufacturing, 7(1), p. 27.Google Scholar
  12. [12]
    Vu, D. S., Barnett, E., Zaccarin, A. M., and Gosselin, C., 2018. “On the design of a three-DOF cable-suspended parallel robot based on a parallelogram arrangement of the cables”. In Cable-driven Parallel Robots, Vol. 53. pp. 319–330.Google Scholar
  13. [13]
    Pott, A., Meyer, C., and Verl, A., 2010. “Large-scale assembly of solar power plants with parallel cable robots”. In International Symposium on Robotics (ISR) and German Conference on Robotics (ROBOTIK), pp. 1–6.Google Scholar
  14. [14]
    Izard, J.-B., Gouttefarde, M., Michelin, M., Tempier, O., and Baradat, C., 2013. “A Reconfigurable Robot for Cable-Driven Parallel Robotic Research and Industrial Scenario Proofing”. In Cable-Driven Parallel Robots, Mechanisms and Machine Science, Springer, pp. 135–148.Google Scholar
  15. [15]
    Verhoeven, R., 2004. “Analysis of the Workspace of Tendon-based Stewart Platforms”. PhD thesis, University of Duisburg-Essen, Duisburg, Germany.Google Scholar
  16. [16]
    Peng, L., and Hongwei, M., 2016. “On the stability for a cable-driven parallel robot while considering the cable sag effects”. In 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp. 538–543.Google Scholar
  17. [17]
    Pott, A., 2008. “Forward Kinematics and Workspace Determination of a Wire Robot for Industrial Applications”. In Advances in Robot Kinematics (ARK), Springer, pp. 451–458.Google Scholar
  18. [18]
    Pott, A., 2013. “An improved Force Distribution Algorithm for Over-Constrained Cable-Driven Parallel Robots”. In Computational Kinematics. Springer, pp. 139–146.Google Scholar
  19. [19]
    Perreault, S., Cardou, P., Gosselin, C., and Otis, M. J.-D., 2010. “Geometric determination of the interference-free constant-orientation workspace of parallel cable-driven mechanisms”. ASME Journal of Mechanisms and Robotics, 2(3).CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Andreas Pott
    • 1
  • Philipp Tempel
    • 1
  • Alexander Verl
    • 1
  • Frederik Wulle
    • 1
    Email author
  1. 1.Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW)University of StuttgartStuttgartGermany

Personalised recommendations