The DLR Cables Library

The DLR Cables Library can be used to simulate steel cables with nonlinear stiffness such as steel wire cables with and without non-metal core or coatings. The cable itself is simulated as discrete element component, and can easily be connected to Modelica Multibody components. Additional components like winches and pulleys are included in the library. With those, complex cable systems with multiple interconnected pulleys become possible in Modelica. Two applications of the library are demonstrated, a construction crane and a cable robot used to compensate gravitation in a space robotic application.