END EFFECTOR CAPABLE OF BEING ACTUATED BY CABLE TENSION AND CABLE-DRIVEN PARALLEL ROBOT COMPRISING SAME

摘要

The present invention relates to an end effector capable of being actuated by cable tension and a parallel cable robot including the same and, more specifically, relates to an end effector capable of being actuated by simultaneously changing cable tension in specific relation; and a cable robot including the same. According to an embodiment of the present invention, the end effector (100) comprises: a body portion (102); a fixing portion (104) installed in the body portion (102); a movement portion (106) formed to be movable with respect to the fixing portion (104); a cable (40) connected to the movement portion (106); a plurality of guide pulleys (116) installed in the body portion (102) such that the cable (40) comes in contact with at least a part of a circumference thereof and passes; a stopper means (118) separated from the movement portion (106) and formed in the body portion (102); and an elastic member (120) installed between the movement portion (106) and the stopper means (118), and elongated or compressed.