Kinematics and Dynamics of a Cable-Driven Floating Platform for Desedimentation

Kinematics and Dynamics of a Cable-Driven Floating Platform for Desedimentation | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Kinematics and Dynamics of a Cable-Driven Floating Platform for Desedimentation Jonas Bieber, David Bernstein, Michael Beitelschmidt This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6566476/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 13 Jan, 2026 Read the published version in Multibody System Dynamics → Version 1 posted 11 You are reading this latest preprint version Abstract The kinematics and dynamics of a floating desedimentation platform, actuated by a planar cable-driven parallel robot with four cables, are presented and illustrated, using an exemplary test setup. As the anchor points are distributed around the reservoir, the resulting large installation space leads to long cables compared to the platform size. It is shown that effects not taken into account in inverse kinematics, such as cable sag and elasticity, have an impact on the solution of the numerically solved forward kinematics. In particular, the positive cable length deviations that occur with small cable forces are critical because they can lead to an ambiguous solution. Regarding the dynamics model, only the translation platform movement is actively controlled, while the platform orientation adjusts passively. It is shown, that there is a neutral platform orientation for each static load condition. Introduced rotational oscillations rapidly decay due to viscous winch friction while a high cable force level reduces the variation of the neutral orientation. Cable-Driven Parallel Robot Floating Platform Kinematics Dynamics Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Published Journal Publication published 13 Jan, 2026 Read the published version in Multibody System Dynamics → Version 1 posted Editorial decision: Revision requested 02 Sep, 2025 Reviews received at journal 26 Aug, 2025 Reviews received at journal 23 Jul, 2025 Reviewers agreed at journal 23 Jul, 2025 Reviewers agreed at journal 21 Jul, 2025 Reviews received at journal 18 Jun, 2025 Reviewers agreed at journal 09 May, 2025 Reviewers invited by journal 08 May, 2025 Editor assigned by journal 05 May, 2025 Submission checks completed at journal 01 May, 2025 First submitted to journal 30 Apr, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-6566476","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":455357905,"identity":"c110474a-ab87-4dbf-99fc-6e17db0d1277","order_by":0,"name":"Jonas Bieber","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAABGElEQVRIie2PMUvDQBTH33Hg9JKsOSL6Fa4EglClXyVQiEvAtYNgoGCXuBfaD+FHUA7S5egcMaBQyNQhkuVcipegThfs6HA/uHsPHj/+7wFYLP8QkvXlCcHXpel7/fCn+Ushy/gI5Rs91QrFYxS6eHj+UFCdesG8aK+UAPdViGY/q8DdZObF8u00QKiRrYvpKo0FsG2SsLWsgUlzDFmmPAAQyMs0pFq5e5QYUedeAC/jISX8VFqZlDctvdApXHpt6xx08/Y+pEQ+dil+Sin0CkLgZF2K+XySy2iMvEa/KkKSJ9f6hJNIHyaQSfNio0UevqhZNfFW8x2oyzG4ku6a/a04czfm80dZ93PDBM1rAZwPDSwWi8XyyxfNJWKEzX++cQAAAABJRU5ErkJggg==","orcid":"","institution":"TU Dresden","correspondingAuthor":true,"prefix":"","firstName":"Jonas","middleName":"","lastName":"Bieber","suffix":""},{"id":455357906,"identity":"5a173c0b-1aa4-474c-98ba-ea4cbdd4a66d","order_by":1,"name":"David Bernstein","email":"","orcid":"","institution":"TU Dresden","correspondingAuthor":false,"prefix":"","firstName":"David","middleName":"","lastName":"Bernstein","suffix":""},{"id":455357907,"identity":"4431ea31-0d2d-40c4-91b7-42115ea0f6e1","order_by":2,"name":"Michael Beitelschmidt","email":"","orcid":"","institution":"TU Dresden","correspondingAuthor":false,"prefix":"","firstName":"Michael","middleName":"","lastName":"Beitelschmidt","suffix":""}],"badges":[],"createdAt":"2025-04-30 15:53:14","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-6566476/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-6566476/v1","draftVersion":[],"editorialEvents":[{"content":"https://doi.org/10.1007/s11044-025-10141-6","type":"published","date":"2026-01-13T16:31:03+00:00"}],"editorialNote":"","failedWorkflow":false,"files":[{"id":100616670,"identity":"334949c2-b439-4f47-9dd3-512fa6999aca","added_by":"auto","created_at":"2026-01-19 17:44:40","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1548014,"visible":true,"origin":"","legend":"","description":"","filename":"Eccomas20251.pdf","url":"https://assets-eu.researchsquare.com/files/rs-6566476/v1_covered_1e65e4ac-f794-400e-af66-004227536c8e.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Kinematics and Dynamics of a Cable-Driven Floating Platform for Desedimentation","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"multibody-system-dynamics","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"mubo","sideBox":"Learn more about [Multibody System Dynamics](http://link.springer.com/journal/11044)","snPcode":"11044","submissionUrl":"https://submission.nature.com/new-submission/11044/3","title":"Multibody System Dynamics","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"em","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":" Cable-Driven Parallel Robot, Floating Platform, Kinematics, Dynamics","lastPublishedDoi":"10.21203/rs.3.rs-6566476/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-6566476/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"The kinematics and dynamics of a floating desedimentation platform, actuated by a planar cable-driven parallel robot with four cables, are presented and illustrated, using an exemplary test setup. 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