FR3122348B1 - Cable robot type positioning device - Google Patents

Cable robot type positioning device Download PDF

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Publication number
FR3122348B1
FR3122348B1 FR2104447A FR2104447A FR3122348B1 FR 3122348 B1 FR3122348 B1 FR 3122348B1 FR 2104447 A FR2104447 A FR 2104447A FR 2104447 A FR2104447 A FR 2104447A FR 3122348 B1 FR3122348 B1 FR 3122348B1
Authority
FR
France
Prior art keywords
platform
cable
positioning device
mobile
robot type
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR2104447A
Other languages
French (fr)
Other versions
FR3122348A1 (en
Inventor
Gabriel Abba
Jean-François Antoine
Atal Anil Kumar
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Universite de Lorraine
Original Assignee
Universite de Lorraine
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Universite de Lorraine filed Critical Universite de Lorraine
Priority to FR2104447A priority Critical patent/FR3122348B1/en
Priority to EP22720350.2A priority patent/EP4329988A1/en
Priority to PCT/EP2022/058635 priority patent/WO2022228823A1/en
Publication of FR3122348A1 publication Critical patent/FR3122348A1/en
Application granted granted Critical
Publication of FR3122348B1 publication Critical patent/FR3122348B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0078—Programme-controlled manipulators having parallel kinematics actuated by cables

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

Dispositif de positionnement de type robot à câbles comprenant une plateforme suspendue mobile dans un volume (V) définit par un repère R0 (x, y, z), la plateforme étant mobile selon les directions (x, y, z), ladite plateforme étant mobile selon les directions (x, y, z) et étant reliée au volume (V) par N câbles avec N supérieur ou égal à 3, lesdits câbles étant fixés d’une part au niveau de points d’ancrage coté plateforme et d’autre part au niveau de points d’ancrage coté environnement, le dispositif de positionnement comprenant pour chaque câble un actionneur fixe positionné entre un des bouts du câble et le point d’ancrage adjacent et permettant de contrôler la longueur d’un câble donné, ladite plateforme comprenant pour chaque câble un actionneur mobile permettant de contrôler la position du point d’ancrage coté plateforme par rapport à ladite plateforme. Figure pour abrégé : figure 1Positioning device of the cable robot type comprising a mobile suspended platform in a volume (V) defined by a reference R0 (x, y, z), the platform being mobile in the directions (x, y, z), said platform being mobile in the directions (x, y, z) and being connected to the volume (V) by N cables with N greater than or equal to 3, said cables being fixed on the one hand at the level of anchor points on the platform side and on the other hand at the level of anchor points on the environment side, the positioning device comprising for each cable a fixed actuator positioned between one of the ends of the cable and the adjacent anchor point and making it possible to control the length of a given cable, said platform comprising for each cable a mobile actuator making it possible to control the position of the anchor point on the platform side with respect to said platform. Figure for abstract: Figure 1

FR2104447A 2021-04-28 2021-04-28 Cable robot type positioning device Active FR3122348B1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR2104447A FR3122348B1 (en) 2021-04-28 2021-04-28 Cable robot type positioning device
EP22720350.2A EP4329988A1 (en) 2021-04-28 2022-03-31 Positioning device of the cable robot type
PCT/EP2022/058635 WO2022228823A1 (en) 2021-04-28 2022-03-31 Positioning device of the cable robot type

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2104447 2021-04-28
FR2104447A FR3122348B1 (en) 2021-04-28 2021-04-28 Cable robot type positioning device

Publications (2)

Publication Number Publication Date
FR3122348A1 FR3122348A1 (en) 2022-11-04
FR3122348B1 true FR3122348B1 (en) 2023-05-26

Family

ID=76523116

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2104447A Active FR3122348B1 (en) 2021-04-28 2021-04-28 Cable robot type positioning device

Country Status (3)

Country Link
EP (1) EP4329988A1 (en)
FR (1) FR3122348B1 (en)
WO (1) WO2022228823A1 (en)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101602209B (en) * 2009-07-09 2011-06-22 北京航空航天大学 Reconfigurable cable-driven parallel manipulator and driving device thereof
HUP0900466A2 (en) * 2009-07-28 2011-05-30 Budapesti Mueszaki Es Gazdasagtudomanyi Egyetem Payload suspension system
DE102012025432B3 (en) * 2012-12-21 2014-04-03 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Robot arrangement i.e. parallel rope robot, has structure components spatially arranged along platform and counter bearings such that torque oriented around one of axes is produced or torque oriented around another axis is produced
KR101627766B1 (en) * 2014-02-04 2016-06-07 전남대학교산학협력단 Cable position change device for cable-driven parallel robot
GB2566032B (en) * 2017-08-30 2022-03-09 Mamou Mani Ltd Cable robot and method of large scale production of articles
CN112091946B (en) * 2020-09-16 2022-03-25 哈尔滨工业大学 Overhead multi-degree-of-freedom rope-driven parallel robot

Also Published As

Publication number Publication date
EP4329988A1 (en) 2024-03-06
WO2022228823A1 (en) 2022-11-03
FR3122348A1 (en) 2022-11-04

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