Isotropic Design of the Spherical Wrist of a Cable-Driven Parallel Robot

Angelos Platis (1) , Tahir Rasheed (1, 2) , Philippe Cardou (3) , Stéphane Caro (4)

1 ECN - École Centrale de Nantes
2 LS2N - Laboratoire des Sciences du Numérique de Nantes
3 Department of Mechanical Engineering, Laval University
4 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services

Because of their mechanical properties, parallel mechanisms are most appropriate for large payload to weight ratio or high-speed tasks. Cable driven parallel robots (CDPRs) are designed to offer a large translation workspace, and can retain the other advantages of parallel mechanisms. One of the main drawbacks of CD-PRs is their inability to reach wide ranges of end-effector orientations. In order to overcome this problem, we introduce a parallel spherical wrist (PSW) end-effector actuated by cable-driven omni-wheels. In this paper we mainly focus on the description of the proposed design and on the appropriate placement of the omni-wheels on the wrist to maximize the robot dexterity.

Mots clés: Parallel mechanism; cable-driven parallel robot; parallel spherical wrist; wrenches; dexterity

Domaines: Génie mécanique [physics.class-ph]; Automatique / Robotique

Angelos Platis, Tahir Rasheed, Philippe Cardou, Stéphane Caro. Isotropic Design of the Spherical Wrist of a Cable-Driven Parallel Robot. Lenarcic J.; Merlet JP. Advances in Robot Kinematics 2016, 4, pp.321-330, 2017, Springer Proceedings in Advanced Robotics., ⟨10.1007/978-3-319-56802-7_34⟩. ⟨hal-01758077⟩