Cable Suspended Manipulation Robots

This paper deals with the design study of cable suspended robotic manipulation systems for manipulation with heavy weight objects in relatively large operation workspace. A concept based on three cable winch systems working in mutual coordination is presented. Principal mathematical relations for kinematic and force analysis are shows as well as direct and inverse control tasks are specified. The reconfigurable manipulation system is especially suited for operation in civil engineering, agriculture, forestry, etc., where its configuration can be modified according to conditions of the workspace. For this reason a simple calibration procedure is proposed.