Abstract
Because of their mechanical properties, parallel mechanisms are most appropriate for large payload to weight ratio or high-speed tasks. Cable driven parallel robots (CDPRs) are designed to offer a large translation workspace, and can retain the other advantages of parallel mechanisms . One of the main drawbacks of CDPRs is their inability to reach wide ranges of end-effector orientations. In order to overcome this problem, we introduce a parallel spherical wrist (PSW) end-effector actuated by cable-driven omni-wheels. In this paper we mainly focus on the description of the proposed design and on the appropriate placement of the omni-wheels on the wrist to maximize the robot dexterity .
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Platis, A., Rasheed, T., Cardou, P., Caro, S. (2018). Isotropic Design of the Spherical Wrist of a Cable-Driven Parallel Robot. In: Lenarčič, J., Merlet, JP. (eds) Advances in Robot Kinematics 2016. Springer Proceedings in Advanced Robotics, vol 4. Springer, Cham. https://doi.org/10.1007/978-3-319-56802-7_34
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DOI: https://doi.org/10.1007/978-3-319-56802-7_34
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