Design and comparison of high speed cable driven parallel pick and place robots, performing a Schönflies motion

In cable driven parallel robots (CDPRs), the end effector or moving platform is actuated by multiple cables in parallel that are wound on winches, which are located on a frame. Compared to classical parallel robots, such as the Delta robot, CDPRs have a lower inertia due to low cable masses. Therefore, they can perform high speed motions with a...