A Cable-Driven Parallel Robot With an Embedded Tilt-Roll Wrist

Saman Lessanibahri (1, 2, 3) , Philippe Cardou (4, 5) , Stéphane Caro (2, 6, 3)

1 ECN - École Centrale de Nantes
2 LS2N - Laboratoire des Sciences du Numérique de Nantes
3 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
4 Laboratoire de robotique
5 ULaval - Université Laval [Québec]
6 CNRS - Centre National de la Recherche Scientifique

This paper addresses the optimum design, configuration and workspace analysis of a Cable-Driven Parallel Robot with an embedded tilt-roll wrist. The manipulator is a hybrid robot consisting in an under-constrained moving-platform accommodating a tilt-roll wrist. The embedded wrist provides large amplitudes of tilt and roll rotations and a large translational workspace obtained by the moving-platform. This manipula-tor is suitable for tasks requiring large rotation and translation workspaces like tomography scanning, camera-orienting devices and visual surveillance. The moving-platform is an eight-degree-of-freedom articulated mechanism with large translational and rotational workspaces and it is suspended from a fixed frame by six cables. The manipulator employs two bi-actuated cables , i.e., cable loops to transmit the power from motors fixed on the ground to the tilt-roll wrist. Therefore, the manipulator achieves better dynamic performances due to a lower inertia of its moving-platform.

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

Saman Lessanibahri, Philippe Cardou, Stéphane Caro. A Cable-Driven Parallel Robot With an Embedded Tilt-Roll Wrist. ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2019, Anaheim, United States. ⟨10.1115/DETC2019-98146⟩. ⟨hal-02404283v2⟩