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Design and Programming for Cable-Driven Parallel Robots in the German Pavilion at the EXPO 2015

Institute for Control Engineering of Machine Tools and Manufacturing Units, University of Stuttgart, Seidenstr. 36, 70174 Stuttgart, Germany
Institute of Engineering and Computational Mechanics, University of Stuttgart, Pfaffenwaldring 9, 70569 Stuttgart, Germany
Author to whom correspondence should be addressed.
Academic Editor: Yoshiaki Terumichi
Machines 2015, 3(3), 223-241;
Received: 24 June 2015 / Revised: 16 July 2015 / Accepted: 11 August 2015 / Published: 25 August 2015
(This article belongs to the Special Issue Advance in Multibody System Dynamics)
PDF [2198 KB, uploaded 25 August 2015]


In the German Pavilion at the EXPO 2015, two large cable-driven parallel robots are flying over the heads of the visitors representing two bees flying over Germany and displaying everyday life in Germany. Each robot consists of a mobile platform and eight cables suspended by winches and follows a desired trajectory, which needs to be computed in advance taking technical limitations, safety considerations and visual aspects into account. In this paper, a path planning software is presented, which includes the design process from developing a robot design and workspace estimation via planning complex trajectories considering technical limitations through to exporting a complete show. For a test trajectory, simulation results are given, which display the relevant trajectories and cable force distributions. View Full-Text
Keywords: cable-driven parallel robots; path planning; EXPO 2015 cable-driven parallel robots; path planning; EXPO 2015

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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MDPI and ACS Style

Tempel, P.; Schnelle, F.; Pott, A.; Eberhard, P. Design and Programming for Cable-Driven Parallel Robots in the German Pavilion at the EXPO 2015. Machines 2015, 3, 223-241.

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