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Cable-Driven Parallel Robots with Large Translation and Orientation Workspaces

Abstract : Cable-Driven Parallel Robots (CDPRs) also noted as wire-driven robots are parallel manipulators with flexible cables instead of rigid links. A CDPR consists of a base frame, a moving-platform and a set of cables connecting the moving-platform to the base frame. CDPRs are well-known for their advantageous performance over classical parallel robots in terms of translation workspace, reconfigurability, payload capacity and high dynamic performance. However, most of the CDPRs provide limited amplitudes of rotation of the moving-platform due to cable/cable and cable/moving-platform collisions. The objective of this thesis is to design, analyze and build hybrid CDPRs to enlarge the orientation workspace in addition to their large translation workspace by exploiting cableloops. This research work presents development of three hybrid CDPRs with drastically augmented orientation workspace suitable for tasks requiring large orientation and translational workspaces like tomography scanning, camera-orienting devices, visual surveillance and inspection.
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Submitted on : Friday, March 19, 2021 - 9:23:22 AM
Last modification on : Wednesday, April 27, 2022 - 3:51:25 AM


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  • HAL Id : tel-03174262, version 1


Saman Lessanibahri. Cable-Driven Parallel Robots with Large Translation and Orientation Workspaces. Robotics [cs.RO]. École centrale de Nantes, 2020. English. ⟨NNT : 2020ECDN0006⟩. ⟨tel-03174262⟩



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