Application of the Rigid Finite Element Method to the Simulation of Cable-Driven Parallel Robots

  • Philipp TempelEmail author
  • Andreas Schmidt
  • Bernard Haasdonk
  • Andreas Pott
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 50)


Kinematics and dynamics of cable-driven parallel robots are affected by the cables used as force and motion transmitting elements. Flexural rigidity of these cables is of major interest to better understand dynamics of these systems and to improve their accuracy. The approach for modeling spatial cable dynamics, as presented in this paper, is based on the modified rigid-finite element method using rigid bodies and spring-damper elements. With this, a simulation of a planar 3 degrees of freedom cable-driven parallel robot is constructed as a multi-body dynamics model. Under consideration of holonomic constraints and Baumgarte stabilization, a simulation framework for the simulation of cable-driven parallel robots including dynamics of the cables is developed and presented.


Parallel kinematics Multi-body dynamics Flexible joints Holonomic systems Model order reduction 



The authors 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 International Publishing AG 2018

Authors and Affiliations

  • Philipp Tempel
    • 1
    Email author
  • Andreas Schmidt
    • 2
  • Bernard Haasdonk
    • 2
  • Andreas Pott
    • 1
  1. 1.Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW)University of StuttgartStuttgartGermany
  2. 2.Institute for Applied Analysis and Numerical Simulation (IANS)University of StuttgartStuttgartGermany

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