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Robotics
Volume 15
Issue 7
10.3390/robotics15070124
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Article

IPAnema Safe: A Cable-Driven Parallel Robot for Safe Operation Above People

by
Christoph Martin
1,*,
Marc Fabritius
1,
Christian Lehnertz
1,
Jakob Traub
1,
Johannes T. Stoll
1,
Werner Kraus
1 and
Andreas Pott
2
1
Research Division Automation and Robotics, Fraunhofer Institute for Manufacturing Engineering and Automation IPA, 70569 Stuttgart, Germany
2
Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW), University of Stuttgart, 70511 Stuttgart, Germany
*
Author to whom correspondence should be addressed.
Robotics 2026, 15(7), 124; https://doi.org/10.3390/robotics15070124
Submission received: 24 April 2026 / Revised: 24 June 2026 / Accepted: 26 June 2026 / Published: 30 June 2026
(This article belongs to the Section Intelligent Robots and Mechatronics)
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Abstract

Training ship crews for new scenarios at sea in reproducible sea conditions is weather-dependent and dangerous. The Maritime Research Institute Netherlands (MARIN) addresses this issue by offering a variety of different simulators to safely train people onshore. For scenarios involving a swinging hook or a ladder for a pilot boarding a ship in turbulent sea conditions, a safe cable-driven parallel robot, the IPAnema Safe, is developed. Its safety features allow its platform to move above people during training scenarios. Therefore, in addition to standard safety features and a proper mechanical design, the safety functions Safely Limited Position (SLP) and Safely Limited Speed (SLS) for a cable-driven parallel robot are implemented on safety-certified hardware with Performance Level e (PL e). This work presents the design process and implementation of the IPAnema Safe, focusing on its layout, winches, platform optimization and functional safety features.
Keywords: cable-driven parallel robot; robot design; parameter optimization; robot safety cable-driven parallel robot; robot design; parameter optimization; robot safety

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MDPI and ACS Style

Martin, C.; Fabritius, M.; Lehnertz, C.; Traub, J.; Stoll, J.T.; Kraus, W.; Pott, A. IPAnema Safe: A Cable-Driven Parallel Robot for Safe Operation Above People. Robotics 2026, 15, 124. https://doi.org/10.3390/robotics15070124

AMA Style

Martin C, Fabritius M, Lehnertz C, Traub J, Stoll JT, Kraus W, Pott A. IPAnema Safe: A Cable-Driven Parallel Robot for Safe Operation Above People. Robotics. 2026; 15(7):124. https://doi.org/10.3390/robotics15070124

Chicago/Turabian Style

Martin, Christoph, Marc Fabritius, Christian Lehnertz, Jakob Traub, Johannes T. Stoll, Werner Kraus, and Andreas Pott. 2026. "IPAnema Safe: A Cable-Driven Parallel Robot for Safe Operation Above People" Robotics 15, no. 7: 124. https://doi.org/10.3390/robotics15070124

APA Style

Martin, C., Fabritius, M., Lehnertz, C., Traub, J., Stoll, J. T., Kraus, W., & Pott, A. (2026). IPAnema Safe: A Cable-Driven Parallel Robot for Safe Operation Above People. Robotics, 15(7), 124. https://doi.org/10.3390/robotics15070124

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