6-DOF cable-driven mechanisms

• 6 degrees of freedom
• 6 motors on the upper part of the assembly controlled in position
• 3 motors on the lower part of the assembly controlled in current to constrain the end effector and to allow downward accelerations greater than 1 G.
• Structure: cube with 2 m edge
• End effector: 20 cm in diameter ring, pierced every 15 degrees
• End effector mass: about 200 grams
• Low cost components
• Accuracy in translation: 1 cm
• Maximum acceleration: 2,5 G.

A scientific poster was created in 2002 on the 6-DOF cable-driven mechanisms .

The following video segments illustrate the working of 6-DOF cable-driven mechanisms