Design of a large-scale cable-driven robot with translational motion

Dynamic Launch Trajectory Planning of a Cable-Suspended Translational Parallel Robot Using Point-to-Point Motions

“…Several other mechanism designs for reduced-DoF motion (such as either purely-translational or Schönflies motion) using flexible elements have been proposed, for instance in construction [12], motion aids for people with disabilities [13], or 3D printing applications [14]. In most cases, however, these designs introduce either antagonistic cables [15,16] pulling on the EE, articulated transmission systems [17,18], or additional rigid elements [14,19,20] that help to keep the flexible elements under tension at all times; clearly, this increases the complexity and the cost of these designs.…”

Dynamic Launch Trajectory Planning of a Cable-Suspended Translational Parallel Robot Using Point-to-Point Motions

“…Several other mechanism designs for reduced-DoF motion (such as either purely-translational or Schönflies motion) using flexible elements have been proposed, for instance in construction [12], motion aids for people with disabilities [13], or 3D printing applications [14]. In most cases, however, these designs introduce either antagonistic cables [15,16] pulling on the EE, articulated transmission systems [17,18], or additional rigid elements [14,19,20] that help to keep the flexible elements under tension at all times; clearly, this increases the complexity and the cost of these designs.…”

State-of-the-art on theories and applications of cable-driven parallel robots

“…Since parallel cables in the same group are wound and released simultaneously, they are generally driven by one actuator. Bosscher et al [63] first used parallel cables in a rescue robot. Alikhani et al [64] designed a large-space translational CDPR with parallel cables.…”

Design and implementation of a cable-driven parallel robot for additive manufacturing applications

“…To prevent the cable winding on the winch from being random, it is useful to add a thread on the winch to constrain the lateral winding of the cable (Figure 3). This solution improves cable winding precision and is now the most widely used solution on CDPRs [12,29,4,30,3,31,32,33,34,35]. But the downside of this solution is that it doesn't maintain a fixed cable exit point.…”

“…It is possible to use a rotating threaded winch with the help of a fixed cable exit point (Figure 5). This exit point can be just a simple hole as in [42,43,29]. To reduce the friction of the cable, the hole can be replaced by a pulley with 2 degrees of freedom in rotation [44].…”

“…The winches can handle the winding of several cables as in [7,29,54,55,13,50]. This solution can make it possible to constrain certain degrees of freedom of the platform, increase the workspace, and also the rigidity of the robot.…”

Dynamic Launch Trajectory Planning of a Cable-Suspended Translational Parallel Robot Using Point-to-Point Motions

“…Several other mechanism designs for reduced-DoF motion (such as either purely-translational or Schönflies motion) using flexible elements have been proposed, for instance in construction [12], motion aids for people with disabilities [13], or 3D printing applications [14]. In most cases, however, these designs introduce either antagonistic cables [15,16] pulling on the EE, articulated transmission systems [17,18], or additional rigid elements [14,19,20] that help to keep the flexible elements under tension at all times; clearly, this increases the complexity and the cost of these designs.…”

State-of-the-art on theories and applications of cable-driven parallel robots

“…Since parallel cables in the same group are wound and released simultaneously, they are generally driven by one actuator. Bosscher et al [63] first used parallel cables in a rescue robot. Alikhani et al [64] designed a large-space translational CDPR with parallel cables.…”

Design and implementation of a cable-driven parallel robot for additive manufacturing applications

“…To prevent the cable winding on the winch from being random, it is useful to add a thread on the winch to constrain the lateral winding of the cable (Figure 3). This solution improves cable winding precision and is now the most widely used solution on CDPRs [12,29,4,30,3,31,32,33,34,35]. But the downside of this solution is that it doesn't maintain a fixed cable exit point.…”

“…It is possible to use a rotating threaded winch with the help of a fixed cable exit point (Figure 5). This exit point can be just a simple hole as in [42,43,29]. To reduce the friction of the cable, the hole can be replaced by a pulley with 2 degrees of freedom in rotation [44].…”

“…The winches can handle the winding of several cables as in [7,29,54,55,13,50]. This solution can make it possible to constrain certain degrees of freedom of the platform, increase the workspace, and also the rigidity of the robot.…”

Dynamic Launch Trajectory Planning of a Cable-Suspended Translational Parallel Robot Using Point-to-Point Motions

“…Several other mechanism designs for reduced-DoF motion (such as either purely-translational or Schönflies motion) using flexible elements have been proposed, for instance in construction [12], motion aids for people with disabilities [13], or 3D printing applications [14]. In most cases, however, these designs introduce either antagonistic cables [15,16] pulling on the EE, articulated transmission systems [17,18], or additional rigid elements [14,19,20] that help to keep the flexible elements under tension at all times; clearly, this increases the complexity and the cost of these designs.…”

State-of-the-art on theories and applications of cable-driven parallel robots

“…Since parallel cables in the same group are wound and released simultaneously, they are generally driven by one actuator. Bosscher et al [63] first used parallel cables in a rescue robot. Alikhani et al [64] designed a large-space translational CDPR with parallel cables.…”

Design and implementation of a cable-driven parallel robot for additive manufacturing applications

“…To prevent the cable winding on the winch from being random, it is useful to add a thread on the winch to constrain the lateral winding of the cable (Figure 3). This solution improves cable winding precision and is now the most widely used solution on CDPRs [12,29,4,30,3,31,32,33,34,35]. But the downside of this solution is that it doesn't maintain a fixed cable exit point.…”

“…It is possible to use a rotating threaded winch with the help of a fixed cable exit point (Figure 5). This exit point can be just a simple hole as in [42,43,29]. To reduce the friction of the cable, the hole can be replaced by a pulley with 2 degrees of freedom in rotation [44].…”

“…The winches can handle the winding of several cables as in [7,29,54,55,13,50]. This solution can make it possible to constrain certain degrees of freedom of the platform, increase the workspace, and also the rigidity of the robot.…”