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On the Design of a Novel Cable-Driven Parallel Robot Capable of Large Rotation About One Axis

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Cable-Driven Parallel Robots

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 53))

Abstract

This paper presents a novel architecture of cable-driven parallel mechanism that yields large orientation capability around one axis. Design decisions and justifications are presented with the aim of producing a human-scale haptic interface used for the rehabilitation of patients in a fully immersive virtual environment. The rehabilitation task to be reproduced by the haptic interface consists in carrying a crate from a shelf to a nearby table. This task requires a large rotation of the crate about the vertical axis, which cannot be achieved by conventional cable-driven parallel architectures. The novel architecture presented can generate Schönflies motion which should be useful in other tasks accomplished by cable-driven parallel robots.

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Acknowledgements

The authors would like to thank Simon Foucault, Thierry Laliberté, Steve Forest and Nicolas Robitaille for their technical help in the making of the haptic interface. This work was supported by The Natural Sciences and Engineering Research Council of Canada (NSERC) as well as the Fonds de Recherche du Québec Nature et Technologie (FRQNT) 2015-PR-180481.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Université Laval, Quebec City, Canada

    Alexis Fortin-Côté, Philippe Cardou & Clément Gosselin

  2. Department of Electrical Engineering, Université Laval, Quebec City, Canada

    Michaël Bonenfant & Denis Laurendeau

  3. Department of Rehabilitation, CIRRIS, Université Laval, Quebec City, Canada

    Céline Faure, Laurent Bouyer, Bradford J. McFadyen & Catherine Mercier

Authors
  1. Alexis Fortin-Côté
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  2. Céline Faure
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  3. Laurent Bouyer
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  4. Bradford J. McFadyen
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  5. Catherine Mercier
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  6. Michaël Bonenfant
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  7. Denis Laurendeau
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  8. Philippe Cardou
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  9. Clément Gosselin
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Corresponding author

Correspondence to Alexis Fortin-Côté .

Editor information

Editors and Affiliations

  1. Fac. Sciences et de Génie, Université Laval, Quebec City, Québec, Canada

    Clément Gosselin

  2. Mechanical Engineering, Université Laval, Quebec City, Québec, Canada

    Philippe Cardou

  3. Chair for Mechatronics, Universität Duisburg-Essen, Duisburg, Nordrhein-Westfalen, Germany

    Tobias Bruckmann

  4. Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA, Stuttgart, Baden-Württemberg, Germany

    Andreas Pott

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Fortin-Côté, A. et al. (2018). On the Design of a Novel Cable-Driven Parallel Robot Capable of Large Rotation About One Axis. In: Gosselin, C., Cardou, P., Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 53. Springer, Cham. https://doi.org/10.1007/978-3-319-61431-1_33

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  • DOI: https://doi.org/10.1007/978-3-319-61431-1_33

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-61430-4

  • Online ISBN: 978-3-319-61431-1

  • eBook Packages: EngineeringEngineering (R0)

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