Four degree-of-freedom wire actuated parallel robot

Details Four degree-of-freedom wire actuated parallel robot Four degree-of-freedom wire actuated parallel robot

B - Operations, Transporting

25

J

B25J 13/00 (2006.01) B25J 17/02 (2006.01)

Patent

CA 2385602

There is disclosed a cable actuated truss - 4 degrees of freedom (CAT4) robot. The robot is a novel, passively jointed, parallel robot utilizing six control cables for actuation. The robot utilizes a passive jointed linkage with 18 revolute joints to constrain the end effector motion and provide the desired structural stability, restricting the end effector to 3 translational degrees of freedom (DOF) and 1 DOF for end effector pitch. This central mechanism together with winched cable actuation gives a number of important benefits for applications where the advantages of a parallel robot are required in conjunction with light weight. Six electric motor driven winches control the length of the cable actuators that extend from the top frame to points on the end effector raft and jointed linkage to create a stiff, but lightweight, actuated robot.

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