CubiX: Portable Wire-Driven Parallel Robot Connecting to and Utilizing the Environment
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arXiv
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| Auteurs principaux: | , , , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866912177235951616 |
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| author | Inoue, Shintaro Kawaharazuka, Kento Suzuki, Temma Yuzaki, Sota Okada, Kei Inaba, Masayuki |
| author_facet | Inoue, Shintaro Kawaharazuka, Kento Suzuki, Temma Yuzaki, Sota Okada, Kei Inaba, Masayuki |
| contents | A wire-driven parallel robot is a type of robotic system where multiple wires are used to control the movement of a end-effector. The wires are attached to the end-effector and anchored to fixed points on external structures. This configuration allows for the separation of actuators and end-effectors, enabling lightweight and simplified movable parts in the robot. However, its range of motion remains confined within the space formed by the wires, limiting the wire-driven capability to only within the pre-designed operational range. Here, in this study, we develop a wire-driven robot, CubiX, capable of connecting to and utilizing the environment. CubiX connects itself to the environment using up to 8 wires and drives itself by winding these wires. By integrating actuators for winding the wires into CubiX, a portable wire-driven parallel robot is realized without limitations on its workspace. Consequently, the robot can form parallel wire-driven structures by connecting wires to the environment at any operational location. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_05933 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | CubiX: Portable Wire-Driven Parallel Robot Connecting to and Utilizing the Environment Inoue, Shintaro Kawaharazuka, Kento Suzuki, Temma Yuzaki, Sota Okada, Kei Inaba, Masayuki Robotics A wire-driven parallel robot is a type of robotic system where multiple wires are used to control the movement of a end-effector. The wires are attached to the end-effector and anchored to fixed points on external structures. This configuration allows for the separation of actuators and end-effectors, enabling lightweight and simplified movable parts in the robot. However, its range of motion remains confined within the space formed by the wires, limiting the wire-driven capability to only within the pre-designed operational range. Here, in this study, we develop a wire-driven robot, CubiX, capable of connecting to and utilizing the environment. CubiX connects itself to the environment using up to 8 wires and drives itself by winding these wires. By integrating actuators for winding the wires into CubiX, a portable wire-driven parallel robot is realized without limitations on its workspace. Consequently, the robot can form parallel wire-driven structures by connecting wires to the environment at any operational location. |
| title | CubiX: Portable Wire-Driven Parallel Robot Connecting to and Utilizing the Environment |
| topic | Robotics |
| url | https://arxiv.org/abs/2410.05933 |