CABLE-BASED PARALLEL ROBOT AND METHOD FOR CONTROLLING SUCH A ROBOT

The invention relates to a cable-based parallel robot comprising a mobile tool (10, 12) which is intended to be moved along a target path (15) in a working environment; a plurality of cables (21; 22; 23) each having a first end (21a; 22a; 23a) connected to the mobile tool (10,12) and a second end (2...

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Bibliographische Detailangaben
Hauptverfasser:	MALLET, Alban, BLANCHET, Laurent, AKHAVAN ZAKERI, Mahriz, ROUX, Philippe, MOREL, Philippe, BOUYSSOU, Charles
Format:	Patent
Sprache:	eng ; fre ; ger
Schlagworte:	ADDITIVE MANUFACTURING TECHNOLOGY ADDITIVE MANUFACTURING, i.e. MANUFACTURING OFTHREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVEAGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING,STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING BUILDING BUILDING IMPLEMENTS OR OTHER BUILDING AIDS, OR THEIRUSE CEILINGS CHAMBERS PROVIDED WITH MANIPULATION DEVICES FIXED CONSTRUCTIONS FLOORS FORMS GENERAL BUILDING CONSTRUCTIONS HAND TOOLS HANDLING BUILDING MATERIALS ON THE SITE INSULATION OR OTHER PROTECTION OF BUILDINGS MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTINGBUILDINGS ROOFS SCAFFOLDING SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS, SLAG, OR MIXTURESCONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDEDFOR SHAPING OR JOINING OF PLASTICS SHUTTERING TRANSPORTING WALLS, e.g. PARTITIONS WORKING CEMENT, CLAY, OR STONE WORKING OF PLASTICS WORKING OF SUBSTANCES IN A PLASTIC STATE, IN GENERAL
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Beschreibung
Zusammenfassung:	The invention relates to a cable-based parallel robot comprising a mobile tool (10, 12) which is intended to be moved along a target path (15) in a working environment; a plurality of cables (21; 22; 23) each having a first end (21a; 22a; 23a) connected to the mobile tool (10,12) and a second end (21b; 22b; 23b) connected to an anchor point of a fixed structure arranged in the vicinity of said working environment; a plurality of cable actuators; a control unit (40) of the actuators, characterised in that said plurality of cables comprises at least one suspended cable (21) and at least one strut cable (22; 23) configured to be arranged so that said second end of the cable (22b, 23b) is lower than said first end (22a; 23a) of the cable while the mobile tool is being moved along said target path (15).