2020 ASME Student Mechanism & Robot Design Competition (SMRDC), part of the 44th ASME Mechanisms & Robotics Conference at the 2020 ASME International Design Engineering Technical Conferences (IDETC)
Project Title: Novel Design for A Cable-Driven Parallel Robot with Full-Circle End-Effector Rotations
Participants: Marceau MÉTILLON
Email: marceau.metillon@ls2n.fr
University: Centre National de la Recherche Scientifique (CNRS), France
This project addresses the design and manufacturing of a Cable-Driven Parallel Robot with
full-circle end-effector rotations. The motivation of this project is to design a Cable-Driven
Parallel Robot that can carry a camera for applications such as surveillance, inspection or
control. For such applications, it is important that the robot covers large workspaces both in
translation and in rotation. In particular, we wish to achieve a large rotational workspace by
actuating the robot using cable-loops. A top plate and a parallel spherical wrist compose the
moving platform of the robot. The parallel spherical wrist concept relies on the Atlas1 platform
principle. A end-effector is linked to the base of the wrist using a spherical joint. Three omniwheels
are linked to the wrist base with revolute joints. The end-effector is a sphere actuated
by the rotation of the omni-wheels. Cable loops remotely drive the end-effector in an overall
9-dof motion. During this project, a complete mechanical embodiment of the concept was
realized allowing its experimental validation. Efforts were made to simplify the design in order
to facilitate the manufacturing of a prototype. Finally the prototype was manufactured and
assembled using the laboratory mechanical facilities and first motions were performed.
