Abstract
Despite their large translational workspace, cable-driven parallel robots (CDPRs) are known to have limited rotational degrees of freedom, due to the unidirectional characteristic of cables and the potential collisions between them. Sizable structures are generally required to settle this issue, which is not preferable in some applications such as rehabilitation. This paper proposes the design of a reconfigurable CDPR allowing to cover a large rotational workspace with a compact structure. The results of the robot design with and without the reconfiguration aspect are investigated and then compared in order to assess the reliability of the proposed algorithm.
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Acknowledgments
This work is supported by the “PHC Utique” program of the French Ministry of Foreign Affairs and Ministry of Higher Education, Research and Innovation and the Tunisian Ministry of Higher Education and Scientific Research. P. n° 19G1121.
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Ennaiem, F. et al. (2021). A Reconfigurable 6-DoF Cable-Driven Parallel Robot with an Extended Rotational Workspace. In: Zeghloul, S., Laribi, M.A., Arsicault, M. (eds) Mechanism Design for Robotics. MEDER 2021. Mechanisms and Machine Science, vol 103. Springer, Cham. https://doi.org/10.1007/978-3-030-75271-2_34
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DOI: https://doi.org/10.1007/978-3-030-75271-2_34
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