Tempel, Philipp

Postdoctoral Researcher

After receiving his doctoral degree (Dr.-Ing.) in robotics from the University of Stuttgart in July 2019, Philipp joined Just Herder’s group at the department of Precision and Microsystems Engineering in October 2019. He received his diploma (Dipl.-Ing.) in Engineering Cybernetics at the university of Stuttgart in 2013, after which he joined the Institute for Control Engineering of Machine Tools and Manufacturing Units ISW at the University of Stuttgart. In 2014, he was a visiting researcher with Prof. Jong-Oh Park at the Joint Robotics Laboratory, Robot Research Initiative at Chonnam National University in Gwangju, South Korea, and in 2016 he was with Marc Gouttefarde of Team DEXTER at LIRMM (Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier; Laboratory of Computer Science, Robotics and Microelectronics of Montpellier).

His research topic are kinematics and dynamics of flexible robots, more particularly cable-driven parallel robots. These systems comprise elastic and flexible cables for actuation of a rigid end effector which results in bodies with differences in stiffness of multiple magnitudes. Analysis and simulation of cable robots requires different tools than known from rigid member robots like Gough-Stewart platforms or Flexpickers.

Research Interests
  • Cable-driven parallel robots
  • Flexible robots
  • Multibody dynamics
  • Numerical and mechanical integrators
Projects

At TU Delft:

CaRISA – A Cable-Driven Parallel Robot for Inspection and Scanning of Artwork

Previous Projects:

  • Expo 2015: I designed, validated, and commissioned two cable robots for the German pavilion at the World Expo 2015 in Milan, Italy.
  • Dynamics of Cable-Driven Parallel Robots with Elastic and Flexible Cables of Time-Varying Length: I extended the kinematic and dynamic formulation of cable robots using Cosserat Rod theory for modeling the cables.
  • EndlessZ: I supervised a former PhD student at the University of Stuttgart on kinematic modeling and simulation of cable robots with multiple platforms and an endless rotation about one axis.
Publications
  1. F. Eger, P. Tempel, M. C. Magnanini, C. Reiff, M. Colledani, and A. Verl, “Part Variation Modeling in Multi-Stage Production Systems for Zero-Defect Manufacturing,” in Industrial Technology, Melbourne, AUS, 2019, pp. 1017–1022.
  2. J. Port et al., “A Simple Method to Reconstruct the Molar Mass Signal of Respiratory Gas to Assess Small Airways with a Double-Tracer Gas Single-Breath Washout,” Medical & biological engineering & computing, vol. 55, no. 11, pp. 1975–1987, 2017, doi: 10.1007/s11517-017-1633-y.
  3. A. Pott and P. Tempel, “A Unified Approach to Forward Kinematics for Cable-Driven Parallel Robots Based on Energy,” in vol. 8, Advances in Robot Kinematics 2018, J. Lenarčič and V. Parenti-Castelli, Eds., Cham: Springer International Publishing, 2019, pp. 401–409.
  4. A. Pott, P. Tempel, A. Verl, and F. Wulle, “Design, Implementation and Long-Term Running Experiences of the Cable-Driven Parallel Robot CaRo Printer,” in Cable-Driven Parallel Robots: Proceedings of the Fourth International Conference on Cable-Driven Parallel Robots, Krakow, Poland, 2019.
  5. T. Reichenbach, P. Tempel, A. Verl, and A. Pott, “Static Analysis of a Two-Platform Planar Cable-Driven Parallel Robot with Unlimited Rotation,” in Cable-Driven Parallel Robots: Proceedings of the Fourth International Conference on Cable-Driven Parallel Robots, Krakow, Poland, 2019.
  6. T. Reichenbach, P. Tempel, A. Verl, and A. Pott, “On Kinetostatics and Workspace Analysis of Multi-Platform Cable-Driven Parallel Robots with Unlimited Rotation,” in Robotics and Mechatronics, Taipei, Taiwan, 2020, pp. 79–90.
  7. C. Reiff et al., “Smart Centering for Rotation-Symmetric Parts in Multi-Stage Production Systems for Zero-Defect Manufacturing,” Procedia CIRP, vol. 79, pp. 27–32, 2019, doi: 10.1016/j.procir.2019.02.006.
  8. P. Tempel, “Design of Decentralized Control Unit for an Optical Mirror Using Loop Transfer Recovery,” studentthesis, Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany, 2012.
  9. P. Tempel, P.-E. Hervé, O. Tempier, M. Gouttefarde, and A. Pott, “Estimating Inertial Parameters of Suspended Cable-Driven Parallel Robots: Use Case on CoGiRo,” in Robotics and Automation, Singapore, Singapore, 2017, pp. 6093–6098.
  10. P. Tempel, D. Lee, F. Trautwein, and A. Pott, “Modeling of Elastic-Flexible Cables with Time-Varying Length for Cable-Driven Parallel Robots,” in Cable-Driven Parallel Robots: Proceedings of the Fourth International Conference on Cable-Driven Parallel Robots, Krakow, Poland, 2019, pp. 295–306.
  11. P. Tempel, P. Miermeister, A. Lechler, and A. Pott, “Modelling of Kinematics and Dynamics of the IPAnema 3 Cable Robot for Simulative Analysis,” AMM, vol. 794, pp. 419–426, 2015, doi: 10.4028/www.scientific.net/AMM.794.419.
  12. P. Tempel, P. Miermeister, and A. Pott, “Kinematics and Dynamics Modeling for Real-Time Simulation of the Cable-Driven Parallel Robot IPAnema 3,” in Mechanism and Machine Science, Taipei, Taiwan, 2015, pp. 117–123.
  13. P. Tempel and A. Pott, “Stuttgarter Simulationsforscher bei EXPO 2015 in Mailand: Simulation Technology Success Stories,” SimTech Cluster of Excellence, Stuttgart, Germany, 2015.
  14. P. Tempel, A. Schmidt, B. Haasdonk, and A. Pott, “Application of the Rigid Finite Element Method to the Simulation of Cable-Driven Parallel Robots,” in Mechanisms and Machine Science, vol. 50, Computational Kinematics, S. Zeghloul, L. Romdhane, and M. A. Laribi, Eds., Cham: Springer International Publishing, 2018, pp. 198–205.
  15. P. Tempel, F. Schnelle, A. Pott, and P. Eberhard, “Design and Programming for Cable-Driven Parallel Robots in the German Pavilion at the EXPO 2015,” Machines, vol. 3, no. 3, pp. 223–241, 2015, doi: 10.3390/machines3030223.
  16. P. Tempel, F. Trautwein, and A. Pott, “Experimental Identification of Stress-Strain Material Models of UHMWPE Fiber Cables for Improving Cable Tension Control Strategies,” in vol. 8, Advances in Robot Kinematics 2018, J. Lenarčič and V. Parenti-Castelli, Eds., Cham: Springer International Publishing, 2019, pp. 258–265.
  17. P. Tempel, A. Verl, and A. Pott, “On the Dynamics and Emergency Stop Behavior of Cable-Driven Parallel Robots,” in ROMANSY 21: Robot Design, Dynamics and Control, Udine, Italy, 2016, pp. 431–438.
  18. F. Trautwein, T. Reichenbach, P. Tempel, A. Pott, and A. Verl, “COPacabana: A Modular Cable-Driven Parallel Robot,” in Sechste IFToMM D-A-CH Konferenz 2020, Lienz, Austria, 2020.
  19. F. Trautwein, P. Tempel, and A. Pott, “A Symbolic-Numeric Method to Capture the Impact of Varied Geometrical Parameters on the Translational Workspace of a Planar Cable-Driven Parallel Robot,” in Reconfigurable Mechanisms and Robots (ReMAR), Delft, Netherlands, 2018, pp. 1–7.

Philipp Tempel