Design of a Planar Cable-Driven Parallel Robot for Non-Contact Tasks

Cable-driven parallel robots offer significant advantages in terms of workspace dimensions and payload capability. Their mechanical structure transmission system consist light extendable cables that can withstand high tensile loads. Cables are wound unwound by a set motorized winches, so the robot mainly depend on amount cable each drum store. For this reason, these manipulators attractive for many industrial tasks to be performed large scale, such as handling, pick-and-place, manufacturing, without substantial increase costs complexity with respect small-scale application. This paper presents design planar overconstrained cable-driven quasi-static non-contact operations vertical surfaces, laser engraving, inspection thermal treatment. The overall is shown, focusing actuation guidance systems. A novel concept outlined, which allows simple kinematic model control manipulator. As an application example, diode mounted onto end-effector prototype perform engraving sheet. Observations experiments reported discussed.