› Research : GRASP :: Cable Robot
›› Cable Robot
Cable Robot is an emerging field, which deals with the development of a central platform that is suspended by several cables, each of which is anchored to a stationary point in the surrounding. The central platform, or the end-effector is the only module which is performing the primary task of the robotic system and therefore is the only module of the system supporting the equipment needed for the particular primary task. It is moved from one point to another in three dimensional space by changing the lengths of the cable by which it is supported, this is achieved with the help of actuators integrated on the module. Several key properties of cable robots allow them significantly greater capabilities than other types of robotics. Some of the applications that favor this type of robotic are, short distance transportation of hazardous materials, environmental monitoring of deep mines,and monitoring and surveillance of the exterior region of a space shuttle or station. For our application we designed a novel mechanical design and fabricated an integrated module for the end-effector, which includes embedded sensors and motor assemble. Further more, we solved the localization of cable robot in three dimensional environment using Unscented Kalman filter.
››› Poster [PDF]
››› Report [PDF]