Zane Zane

Elasto-Static Modelling and Identification of a Deployable Cable-Driven Parallel Robot with Compliant Masts*

Some cable-driven parallel robots (CDPRs) can be rapidly deployed on-site. To achieve such deployability, the fixed frame is usually substituted by four masts. However, not having any rigid fixture between the masts reduces the overall stiffness of the CDPR. This paper introduces a CDPR called Rocas…