Thanks to the stable and precision control characteristics of parallel cable-driven mechanisms, cable-driven parallel robots have an extremely wide range of industrial applications. These advantages can also be used to describe a millimeter-sized cable-driven parallel mechanism, therefore, we can develop a miniature cable-driven parallel robot to undertake stable and precise processing or operation beneath small scale. In this paper, a cable-driven robot "MicroCable" that operates in millimeter-scale dimensions is introduced, with detailed design and manufacturing process. This $45\times 50\times 90mm$ robot has a total mass of 28g, a payload of $\geq$50g, and an operating accuracy of $\leq$lmm in a working space of $20mm\times 23mm\times 16mm$. It is driven by three 60mm-long artificial muscles with a maximum deformation of $\geq$33% for a single artificial muscle, a payload of $\geq$50g, and a self-weight of only 0. 5g. We have verified the controllability of the cable-driven mechanism with artificial muscles at millimeter dimensions, and look forward to its potential applications in future microassembly, micromedicine, microprinting, etc.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Small Parallel Cable-Driven Robot Based on TCPF Design and Control Research


    Contributors:
    Liu, Chinchin (author) / Hu, Chuxiong (author) / Liu, Zhanguang (author) / Han, Haoge (author) / Wang, Ze (author)


    Publication date :

    2022-07-17


    Size :

    817737 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Dimensional Synthetic Optimization Design of the Cable-Driven Parallel Robot

    Tang, Xiaoqiang / Shao, Zhufeng / Yao, Rui | Springer Verlag | 2024



    Design and Analysis of Cable-Driven Parallel Robot CaRISA: A Cable Robot for Inspecting and Scanning Artwork

    Tempel, Philipp / Alfeld, Matthias / Wijk, Volkert van der | TIBKAT | 2021


    Multi-Objective Optimization Design of Cable Driven Parallel Robot Based on Aircraft Spraying

    Yang, Zonghui / Liu, Ting / Jiao, Sen et al. | IEEE | 2024

    Free access