A new design for wire-driven parallel robot

摘要

Abstract — Wire-driven parallel robots offers potential advan-tages for various applications such as medical rehabilitation, entertainment, virtual reality. However as any parallel robot their performances is greatly varying with their geometry and no fixed geometry allows to fulfill all requirements for all possible applications. Hence it is interesting to consider a modular parallel robot, whose geometry may be adapted to the task at hand. We describe the original mechanical hardware of our modular wire-driven robot Marionet and give some prospective on the algorithms that will allow to determine which geometry is the most appropriate for a given task, taking into account the unavoidable uncertainties in the manufacturing. I.