Kinetostatic Modeling of a Cable-Driven Parallel Robot Using a Tilt-Roll Wrist

  • Saman Lessanibahri
  • Philippe Cardou
  • Stéphane CaroEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 74)


This paper introduces the concept of a new Cable-Driven Parallel Robot (CDPR) applicable for tasks requiring large rotation and translation workspaces, e.g., camera orienting devices, visual surveillance over vast areas and tomography scanners. The manipulator consists of a fixed frame and a tilt-roll wrist attached to a Moving-Platform (MP). The MP is an under-constrained and articulated mechanism connected to the fixed frame with six cables. The power is transmitted directly from the motors fixed on the frames to the tilt-roll wrist through cable loops. While most of the CDPRs only provide a limited range of rotation of the MP, the proposed manipulator is applicable for a relatively large and singularity-free rotation workspace thanks to its articulated MP.


novel mechanism cable loop tilt-roll wrist large orientation workspace 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Saman Lessanibahri
    • 1
    • 2
  • Philippe Cardou
    • 3
  • Stéphane Caro
    • 2
    • 4
    Email author
  1. 1.École Centrale de NantesNantesFrance
  2. 2.Laboratoire des Sciences du Numérique de Nantes (LS2N)UMR CNRS 6004NantesFrance
  3. 3.Département de génie mécanique, Université LavalQuébecCanada
  4. 4.Centre National de la Recherche Scientifique (CNRS)NantesFrance

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