A hybrid cable-driven parallel robot as a solution to the limited rotational workspace issue

摘要

Cable-driven parallel robots (CDPRs) are still gaining attention thanks to their interesting characteristics comparedto serial or classic parallel manipulators. However, the limited range of rotation of their end-effectors reduces theirapplication fields to predominantly translational movements. In this context, the issue of extending the rotationalworkspace of a CDPRwhile maintaining a compact robot structure is addressed in this paper. Thiswork is motivatedby the need to find the optimal CDPR for upper limb rehabilitation allowing to assist the patient’s hand alonga set of prescribed tasks. Firstly, a reconfigurable robot, where the motors’ locations are movable, is proposedin order to help reaching all the prescribed poses. Although this solution presents promising results comparedto classical CDPRs, it involves a sizable robot structure inadequate to rehabilitation application. To improve theobtained solution, another approach is proposed, based on combining the large translational workspace of CDPRsand the large rotational workspace of serial manipulators. The optimal structure of a hybrid robot will be consideredfor the prototype design.