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US 10,471,590 B1Granted
Cable robot
OwnerFrédéric Vachoninventor
Life of this patent
Estimating the term…
Abstract
A suspension cable robot is provided, its stability can be improved by using at least three groups of three cables arranged in a parallelogram manner. The ability to remain stable when subjected to forces acting on the robot platform or end effector is thereby significantly increased.
Claims16
A cable robot platform apparatus comprising:
- a platform member;
- at least three cable groups, each one of said cable groups having at least three cables and being arranged on one side of said platform member and having at least three cable connection supports spaced apart to form vertices of a vertically-arranged polygon to provide a parallelogram support for the platform member about three axes, wherein in use each cable group can extend between the platform member and a wall or ceiling anchor to provide said platform with gravity stabilized resistance to motion from forces and torques acting on said platform suspended from said cable groups within a predetermined limit;
- and
- a drive associated with each of said cable groups operable to control a length of said cable groups between said platform member and said anchor, wherein said drive controls a common length for each cable within each one of said at least three cable groups.
1 more element
A method of manufacturing a product comprising the steps of:
- providing a cable robot platform apparatus comprising:
- a platform member;
- at least three cable groups, each one of said cable groups having at least three cables and being arranged on one side of said platform member and having at least three cable connection supports spaced apart to form vertices of a vertically-arranged polygon to provide a parallelogram support for the platform member about three axes, wherein in use each cable group can extend between the platform member and a wall or ceiling anchor to provide said platform with gravity stabilized resistance to motion from forces and torques acting on said platform suspended from said cable groups within a predetermined limit;
- and
- a drive associated with each of said cable groups operable to control a length of said cable groups between said platform member and said anchor, wherein said drive controls a common length for each cable within each one of said at least three cable groups;
- attaching an end effector or tool to said apparatus;
- and
- performing object handling and/or processing using said end effector or tool to manufacture the product.
5 more elements
A cable robot platform apparatus comprising:
- a platform member;
- at least three wall or ceiling anchors each having at least three cable anchor locations spaced apart to form vertices of a vertically-arranged polygon;
- at least three cable groups, each one of said cable groups having at least three cables and being arranged on one side of said platform member and having at least three cable connection supports spaced apart to form vertices of said vertically-arranged polygon to provide a parallelogram support for the platform member about three axes, wherein in use each cable group can extend between the platform member and said wall or ceiling anchors to provide said platform with gravity stabilized resistance to motion from forces and torques acting on said platform suspended from said cable groups within a predetermined limit;
- and
- a drive associated with each of said cable.
2 more elements
Dependencies are inferred from the claim text.