IPAnema: A family of Cable-Driven Parallel Robots for Industrial Applications

  • Andreas Pott
  • Hendrick Mütherich
  • Werner Kraus
  • Valentine Schmidt
  • Philipp Miermeister
  • Alexander Verl
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 12)


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.


Mobile Platform Servo Motor Assembly Operation Cable Length Manufacturing Execution System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



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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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Andreas Pott
    • 1
  • Hendrick Mütherich
    • 1
  • Werner Kraus
    • 1
  • Valentine Schmidt
    • 1
  • Philipp Miermeister
    • 1
  • Alexander Verl
    • 1
  1. 1.Fraunhofer IPAStuttgartGermany

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