Novel Spatial Cable Driven Parallel Robot with Non-limited Workspace

A cable-driven parallel robot (CDPR) is a robotic system that employs cables as its primary actuation mechanism to control the movement of an end-effector. Unlike traditional rigid-link robots, CDPRs offer unique advantages such as lightweight design, high payload capacity, and enhanced workspace adaptability. While CDPRs can be designed to operate in large workspaces, a significant drawback is the limited workspace size relative to the robot’s frame. This paper introduces a novel CDPR design that addresses this limitation by utilizing single cable-loops, enabling operation throughout the entire region within the robot’s frame. This innovative approach aims to overcome the conventional constraint associated with CDPRs, allowing for improved maneuverability and expanded operational space. The utilization of single cable-loops represents a promising solution to enhance the practicality and versatility of cable-driven parallel robots, especially in applications where a larger workspace is crucial.