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Chapitre D'ouvrage Année : 2019

Kinetostatic Modeling of a Cable-Driven Parallel Robot Using a Tilt-Roll Wrist

Résumé

This paper introduces the concept of a new Cable-Driven Parallel Robot (CDPR) applicable for tasks requiring large rotation and translation workspaces, e.g., camera orienting devices, visual surveillance over vast areas and tomography scanners. The manipulator consists of a fixed frame and a tilt-roll wrist attached to a Moving-Platform (MP). The MP is an under-constrained and articulated mechanism connected to the fixed frame with six cables. The power is transmitted directly from the motors fixed on the frames to the tilt-roll wrist through cable loops. While most of the CDPRs only provide a limited range of rotation of the MP, the proposed manipulator is applicable for a relatively large and singularity-free rotation workspace thanks to its articulated MP.
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Dates et versions

hal-02404449 , version 1 (11-12-2019)

Identifiants

Citer

Saman Lessanibahri, Philippe Cardou, Stéphane Caro. Kinetostatic Modeling of a Cable-Driven Parallel Robot Using a Tilt-Roll Wrist. In: Pott A., Bruckmann T. (eds) Cable-Driven Parallel Robots. CableCon 2019. Mechanisms and Machine Science, vol 74. Springer, Cham, pp.109-120, 2019, ⟨10.1007/978-3-030-20751-9_10⟩. ⟨hal-02404449⟩
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