CABLE-BASED PARALLEL ROBOT AND METHOD FOR CONTROLLING SUCH A ROBOT

摘要

The invention relates to a cable-based parallel robot comprising a mobile tool (10, 12) which is intended to be moved along a target path (15) in a working environment; a plurality of cables (21; 22; 23) each having a first end (21a; 22a; 23a) connected to the mobile tool (10,12) and a second end (21b; 22b; 23b) connected to an anchor point of a fixed structure arranged in the vicinity of said working environment; a plurality of cable actuators; a control unit (40) of the actuators, characterised in that said plurality of cables comprises at least one suspended cable (21) and at least one strut cable (22; 23) configured to be arranged so that said second end of the cable (22b, 23b) is lower than said first end (22a; 23a) of the cable while the mobile tool is being moved along said target path (15).