Cable-Driven Parallel Robots (CDPRs) offer high payload capacities, large translational workspace and high dynamics performances. The rigid base frame of the CDPR is connected in parallel to the moving-platform using cables. However, their orientation workspace is usually limited due to cable/cable and cable/moving-platform collisions. This paper deals with the de sign, modeling and prototyping of a hybrid robot. This robot, which is composed of a CDPR mounted in series with a Parallel Spherical Wrist (PSW), has both a large translational workspace and an unlimited orientation workspace. It should be noted that the six-degrees-of-freedom (dof) motions of the moving-platform of the CDPR, namely, the base of the PSW, and the three-dof mo- tion of the PSW are actuated by means of eight actuators fixed to the base. As a consequence, the overall system is underactuated and its total mass and inertia in motion is reduced.


A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations

Division / Sponsors: 
Design Engineering Division and Computers & Information In Engineering Division


Paper Proceedings: https://asmedigitalcollection.asme.org/IDETC-CIE/IDETC-CIE2020/volume/83907

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