A novel cable-driven mechanism with three spatial translational motions and a central prismatic actuator to keep the cables under tension and increase the workplace volume is investigated. Having high accuracy in its workspace, the robot has potential for large-scale robotic manipulations, machining of large parts, and material handling. Kinematic and Jacobian analysis are performed after developing the loop chain equations. Then the motion is numerically analyzed to study the relations between the winches’ revolute angles and the position of the end-effector for a sample welding path.
Kinematics and Jacobian analysis of a three DOF sufficiently actuated large scale cable-driven robot with insufficient actuated structure
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