A Reconfigurable Robot for Cable-Driven Parallel Robotic and Industrial Scenario Proofing

Abstract : Picturing the interest of research institutions and industrial actors, the list of re-search 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 ca-pabilities in industrial tasks. We have developed together a reconfigurable cable robot for this purpose. The robot main characteristics, e.g. footprint, mobile plat-form geometry and drawing point layout can be modified at will, making it partic-ularly 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 differ-ent components and the capabilities of reconfiguration are presented, as well as examples of layouts meant for various research and industrial projects.
Type de document :
Communication dans un congrès
First international conference on cable-driven parallel robots, Stuttgart, Germany. Springer, pp.135-148, 2012, Cable-Driven Parallel Robots
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00737650
Contributeur : Marc Gouttefarde <>
Soumis le : mardi 2 octobre 2012 - 14:03:14
Dernière modification le : jeudi 24 mai 2018 - 15:59:21

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  • HAL Id : lirmm-00737650, version 1

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Jean-Baptiste Izard, Marc Gouttefarde, Micaël Michelin, Olivier Tempier, Cédric Baradat. A Reconfigurable Robot for Cable-Driven Parallel Robotic and Industrial Scenario Proofing. First international conference on cable-driven parallel robots, Stuttgart, Germany. Springer, pp.135-148, 2012, Cable-Driven Parallel Robots. 〈lirmm-00737650〉

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