This study presents a concept of a collaborative robot consisting of a cable-suspended parallel mechanism and a vertical downward thruster equipped on its end-effector to achieve low risk in the event of collision, and good positioning performance at high speed operation. A prototype of a 4-wires 2 degrees-of-freedom vertical planar translational cable-suspended parallel robot was developed, and the experiments to examine its effectiveness and issues were conducted. The findings include the effectiveness of thruster to reduce wire slack for stiffness improvement, negative effect of the reaction torque of the single-rotor thruster which could be solved by introducing the contra-rotating propellers, and several additional issues such as the non-negligible stiffness of the thruster’s power and signal cables and vibration caused by the uneven output of the thruster.
Experimental Study on Thrustered Cable-Suspended Parallel Robot for Collaborative Task
Mechan. Machine Science
International Conference on Cable-Driven Parallel Robots ; 2023 ; Nantes, France June 25, 2023 - June 28, 2023
2023-06-03
11 pages
Article/Chapter (Book)
Electronic Resource
English
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