Design and analysis of cable-driven parallel robot CaRISA

A cable robot for inspecting and scanning artwork

Book chapter (2020)

Authors

P. Tempel Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering
M.W.E.M. Alfeld (OLD) MSE-4
V. van der Wijk Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering
Research Group
Mechatronic Systems Design (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2020 P. Tempel, M.W.E.M. Alfeld, V. van der Wijk
DOI
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https://doi.org/10.1007/978-3-030-58380-4_17
Cable-driven parallel robot Geometric design Workspace analysis
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Published Date

2020

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Precision and Microsystems Engineering

Research Group

Mechatronic Systems Design

Abstract

Cultural heritage science envisages understanding of methods and techniques used by past painters and sculptors in creating their masterpieces of art. Existing devices for in situ and non-destructive, automated scanning are large and bulky and built around the assumption of a perfectly planar surface. We are developing a lightweight, portable robot for scanning of paintings, marbles, or statues while explicitly allowing for their out-of-plane surface. This paper presents the kinematic design and analysis of the wrench-feasible workspace of a cable-driven parallel robot capable of positioning an imaging device with three translational and two rotational degrees of freedom. At the end stand geometric parameters optimized for the application requirements allowing for pan and tilt of 70 each in total, making scanning of the spatial surface of art objects possible.