Abstract
Cable-driven parallel robots allow high performance operation due to their minimal actuated system mass. In order to deal with more complex handling operations it is desirable to have an additional actuated serial kinematics on the platform. This usually comes along with the problem of extra weight and energy supply for the motors on the platform. In this paper we present a new approach to the problem by introducing a hybrid design with coupled platforms and cable-driven serial kinematics. Especially the concept of an endless rotatable axis will be highlighted.
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Acknowledgments
The research leading to these results has received funding from the European Communitys Seventh Framework Programme under grant agreement No. NMP2-SL-2011-285404 (CABLEBOT).
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Miermeister, P., Pott, A. (2015). Design of Cable-Driven Parallel Robots with Multiple Platforms and Endless Rotating Axes. In: Kecskeméthy, A., Geu Flores, F. (eds) Interdisciplinary Applications of Kinematics. Mechanisms and Machine Science, vol 26. Springer, Cham. https://doi.org/10.1007/978-3-319-10723-3_3
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DOI: https://doi.org/10.1007/978-3-319-10723-3_3
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