Novel cable-suspended RoboCrane support

The NIST RoboCrane is a cable-suspended robot with the potential to reduce the disadvantages of conventional cranes. One weakness of the RoboCrane is the need for at least three fixed rigid support points for the six overhead cable connections. In many potential applications, these rigid support points are simply not available. This article presents a new RoboCrane support concept based on rigid members, cable actuation, and cable suspension. It is self-contained and provides mobility for the required six overhead cable connections, thus extending the workspace of the existing RoboCrane. The article presents the RoboCrane support concept overview, followed by kinematics and statics analysis, plus a case study of a specific design. Contact information: Robert L. Williams II, Associate Professor Department of Mechanical Engineering 259 Stocker Center, Ohio University Athens, OH 45701-2979 Phone: (740) 593-1096 Fax: (740) 593-0476 E-mail:[email protected] URL: http://www.ent.ohiou.edu/~bobw