A Reconfigurable Robot for Cable-Driven Parallel Robotic Research and Industrial Scenario Proofing

摘要

Picturing the interest of research institutions and industrial actors, the list of research and demonstration parallel cable-driven robot prototypes is growing by the day. LIRMM and Tecnalia have decided to put knowledge in common in order to develop novel concepts for cable-driven parallel robotics and demonstrate its capabilities in industrial tasks. We have developed together areconfigurable cable robot for this purpose. The robot main characteristics, e.g. footprint, mobile platform geometry and drawing point layout can be modified at will, making it particularly suitable for studying in good conditions new configurations or novel control laws, as well as any scenario suggested by our partners. The present paper first provides an overview of the robot. Afterwards, a more specific view on the different components and the capabilities of reconfiguration are presented, as well as examples of layouts meant for various research and industrial projects.