Modelling and Real-Time Dynamic Simulation of the Cable-Driven Parallel Robot IPAnema

In this paper, the mechatronic model of the cable-driven parallel robot IPAnema ispresented. The dynamic equations are established including the dynamic behavior of the mobileplatform, the pulley kinematics of the winches, and a cable model based on linear springs. Themodel of the actuation systems consists of the electro-dynamic behavior of the power train as wellas the dynamics of the servo controller. The presented model is feasible for real-time simulation,controller design, as well as case studies for high-dynamic or large-scale robots. Simulation resultsand experimental measurements with the cable-driven parallel robot IPAnema are presented andcompared