Abstract

A cable-driven parallel robot (CDPR) includes at least two sets of rotors each coupled to a respective one of at least two supports. The sets of the rotors are positioned above a surface, an effector is positioned at a horizontal planar location between the sets of the rotors and at a vertical location above the surface. At least two sets of cables each have cables coupled to a respective one of the sets of the rotors at first ends of the respective set of the cables and to an effector at second ends of the respective set of the cables. Each set of the sets of rotors is configured to control tension to the respective one set of the sets of cables for moving the horizontal planar location. Each set of the sets of rotors is vertically movable on the respective one of the supports for moving the vertical location when the sets of rotors are vertically moved, e.g., moved synchronously.

IPC Classes  ?

• B25J 9/00 - Programme-controlled manipulators
• B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
• B25J 15/00 - Gripping heads
• B28B 1/00 - Producing shaped articles from the material
• B28B 17/00 - Details of, or accessories for, apparatus for shaping the materialAuxiliary measures taken in connection with such shaping
• B29C 64/232 - Driving means for motion along the axis orthogonal to the plane of a layer
• B29C 64/236 - Driving means for motion in a direction within the plane of a layer
• B29C 64/393 - Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
• B33Y 30/00 - Apparatus for additive manufacturingDetails thereof or accessories therefor
• B33Y 50/02 - Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
• B66D 1/82 - Rope, cable, or chain winding mechanismsCapstans adapted for special purposes for slewing and hoisting by means of derricks
• G01S 17/08 - Systems determining position data of a target for measuring distance only