TY - CHAP
T1 - A reconfigurable robot for cable-driven parallel robotic research and industrial scenario proofing
AU - Izard, Jean Baptiste
AU - Gouttefarde, Marc
AU - Michelin, Micaël
AU - Tempier, Olivier
AU - Baradat, Cedric
N1 - Publisher Copyright:
© 2013, Springer-Verlag Berlin Heidelberg.
PY - 2013
Y1 - 2013
N2 - Picturing the interest of research institutions and industrial actors, the list of research and demonstration parallel cable-driven robot prototypes is growing by the day. LIRMM and Tecnalia have decided to put knowledge in common in order to develop novel concepts for cable-driven parallel robotics and demonstrate its capabilities in industrial tasks. We have developed together a reconfigurable cable robot for this purpose. The robot main characteristics, e.g. footprint, mobile platform geometry and drawing point layout can be modified at will, making it particularly suitable for studying in good conditions new configurations or novel control laws, as well as any scenario suggested by our partners. The present paper first provides an overview of the robot. Afterwards, a more specific view on the different components and the capabilities of reconfiguration are presented, as well as examples of layouts meant for various research and industrial projects.
AB - Picturing the interest of research institutions and industrial actors, the list of research and demonstration parallel cable-driven robot prototypes is growing by the day. LIRMM and Tecnalia have decided to put knowledge in common in order to develop novel concepts for cable-driven parallel robotics and demonstrate its capabilities in industrial tasks. We have developed together a reconfigurable cable robot for this purpose. The robot main characteristics, e.g. footprint, mobile platform geometry and drawing point layout can be modified at will, making it particularly suitable for studying in good conditions new configurations or novel control laws, as well as any scenario suggested by our partners. The present paper first provides an overview of the robot. Afterwards, a more specific view on the different components and the capabilities of reconfiguration are presented, as well as examples of layouts meant for various research and industrial projects.
UR - http://www.scopus.com/inward/record.url?scp=85006421453&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-31988-4_9
DO - 10.1007/978-3-642-31988-4_9
M3 - Chapter
AN - SCOPUS:85006421453
T3 - Mechanisms and Machine Science
SP - 135
EP - 148
BT - Mechanisms and Machine Science
PB - Springer Netherlands
ER -
