RT Book, Section
T1 A reconfigurable robot for cable-driven parallel robotic research and industrial scenario proofing
A1 Izard, Jean Baptiste
A1 Gouttefarde, Marc
A1 Michelin, Micaël
A1 Tempier, Olivier
A1 Baradat, Cedric
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.
PB Springer Netherlands
SN 2211-0984
YR 2013
FD 2013
LK https://hdl.handle.net/11556/1947
UL https://hdl.handle.net/11556/1947
LA eng
NO Izard , J B , Gouttefarde , M , Michelin , M , Tempier , O & Baradat , C 2013 , A reconfigurable robot for cable-driven parallel robotic research and industrial scenario proofing . in Mechanisms and Machine Science . Mechanisms and Machine Science , vol. 12 , Springer Netherlands , pp. 135-148 . https://doi.org/10.1007/978-3-642-31988-4_9
NO Publisher Copyright: © 2013, Springer-Verlag Berlin Heidelberg.
NO Acknowledgments The financial support of the ANR (grant 2009 SEGI 018 01) and of the Région Languedoc-Roussillon (grants 115217) are greatly acknowledged.
DS TECNALIA Publications
RD 28 jul 2024