Abstract
In this paper, the capability of a specific cable-driven parallel mechanism to interact with a variety of surfaces is investigated. This capability could be of use in for example the cleaning of large building surfaces. A method is presented to investigate the workspace for which the cables do not interfere and a surface interaction force can be generated. This method takes into account the influence of cable mass. As an example, this method is used for the design of a mechanism with a workspace conform to the dimensions of a typical building facade. The mechanism is concluded to be feasible as long as there is room to locate the pulleys at an adequate distance from the surface.
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© 2012 Springer Science+Business Media Dordrecht
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Voss, K.H.J., van der Wijk, V., Herder, J.L. (2012). Investigation of a Cable-Driven Parallel Mechanism for Interaction with a Variety of Surfaces, Applied to the Cleaning of Free-Form Buildings. In: Lenarcic, J., Husty, M. (eds) Latest Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4620-6_33
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DOI: https://doi.org/10.1007/978-94-007-4620-6_33
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