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1. (WO2018087101) CABLE-DRIVEN PARALLEL MANIPULATOR

Pub. No.:    WO/2018/087101    International Application No.:    PCT/EP2017/078504
Publication Date: Fri May 18 01:59:59 CEST 2018 International Filing Date: Wed Nov 08 00:59:59 CET 2017
IPC: B25J 9/00
B25J 19/00
Applicants: CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE
UNIVERSITE DE MONTPELLIER
TECNALIA FRANCE
Inventors: IZARD, Jean-Baptiste
GOUTTEFARDE, Marc
Title: CABLE-DRIVEN PARALLEL MANIPULATOR
Abstract:
The invention refers to a cable-driven parallel manipulator (10) comprising: - a support structure; - a cable system (30) mounted on the support structure; and - a mobile platform (20) connected to the cable system (30) whereto a load is attachable; - the cable system being controlled by a control unit to position and orientate the mobile platform (20) and/or to apply wrenches on the mobile platform (20); and further comprising: - at least one movable device (50, 51, 52, 50', 51', 52') mounted on the mobile platform (20); - a control module configured to generate an instruction to move the movable device (20) for displacing an overall center of mass of all of: the mobile platform, the at least one movable device and the load, such that, upon moving the movable device (20), the overall center of mass is within a predetermined region (101). The invention also refers to a method for stabilizing a load of a cable-driven parallel manipulator (10).