A Cable-Driven Parallel Robot With an Embedded Tilt-Roll Wrist

Saman Lessanibahri, Philippe Cardou, Stéphane Caro
2019 Volume 5A: 43rd Mechanisms and Robotics Conference   unpublished
This paper addresses the optimum design, configuration and workspace analysis of a Cable-Driven Parallel Robot with an embedded tilt-roll wrist. The manipulator is a hybrid robot consisting in an under-constrained moving-platform accommodating a tilt-roll wrist. The embedded wrist provides large amplitudes of tilt and roll rotations and a large translational workspace obtained by the moving-platform. This manipulator is suitable for tasks requiring large rotation and translation workspaces like
more » ... ion workspaces like tomography scanning, camera-orienting devices and visual surveillance. The moving-platform is an eight-degree-of-freedom articulated mechanism with large translational and rotational workspaces and it is suspended from a fixed frame by six cables. The manipulator employs two bi-actuated cables, i.e., cable loops to transmit the power from motors fixed on the ground to the tilt-roll wrist. Therefore, the manipulator achieves better dynamic performances due to a lower inertia of its moving-platform.
doi:10.1115/detc2019-98146 fatcat:iu25yyvrcvd2lak6ftybrlejii