US 12,459,109 B2
Cable-driven parallel robot with double cables, and installation comprising such a cable-driven parallel robot
Nicolo Pedemonte, Cugand (FR); Adolfo Suarez Roos, Paris (FR); Stéphane Caro, Nantes (FR); and Viktor Vavra, Saint-Herblain (FR)
Assigned to INSTITUT DE RECHERCHE TECHNOLOGIQUE JULES VERNE, Bouguenais (FR)
Appl. No. 18/576,923
Filed by INSTITUT DE RECHERCHE TECHNOLOGIQUE JULES VERNE, Bouguenais (FR)
PCT Filed Jul. 6, 2022, PCT No. PCT/EP2022/068789
§ 371(c)(1), (2) Date Jan. 5, 2024,
PCT Pub. No. WO2023/280941, PCT Pub. Date Jan. 12, 2023.
Claims priority of application No. 2107309 (FR), filed on Jul. 6, 2021.
Prior Publication US 2024/0293928 A1, Sep. 5, 2024
Int. Cl. B25J 9/00 (2006.01)
CPC B25J 9/0078 (2013.01) 15 Claims
OG exemplary drawing
 
1. An installation comprising:
a cable-driven parallel robot comprising:
a movable platform configured to be suspended by cables, each of the cables having a cable strand configured to be tensioned between a first strand end connected to the movable platform, and a second strand end connected to a structure fixed in space;
winding assemblies, each winding assembly being connected to a pair of associated cables among the cables and configured to synchronously wind the pair of associated cables, wherein each winding assembly comprises two drums, each of the two drums being secured to one of the cables among the cables of an associated pair of cables and being configured to wind the associated cable, each winding assembly being driven by a single motor configured to drive a common rotation shaft carrying the two drums of a given pair of cables; and
a fixed structure from which the platform is suspended, the fixed structure comprises a plurality of suspension structures, each of the suspension structures being configured to comprise a connection with each of the second ends of the cable strands of a given pair of cables;
the installation configured such that when the movable platform is in a reference orientation relative to a vertical direction, the first ends of the cable strands of a same pair of cables are offset vertically from each other and are offset horizontally from each other, and such that the distance between the connections of the second ends of the cable strands of a given pair of cables are separated from each other by a distance equal to the distance separating the first strand ends of the cables from the pair of associated cables such that in a suspended position of the movable platform, the cable strands of a given pair of cables are parallel.