Print Email Facebook Twitter Design and analysis of cable-driven parallel robot CaRISA Title Design and analysis of cable-driven parallel robot CaRISA: A cable robot for inspecting and scanning artwork Author Tempel, P. (TU Delft Mechatronic Systems Design) Alfeld, M.W.E.M. (TU Delft (OLD) MSE-4) van der Wijk, V. (TU Delft Mechatronic Systems Design) Contributor Venture, G (editor) Takeda, Y (editor) Solis, J (editor) Konno, A (editor) Date 2020 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. Subject Cable-driven parallel robotGeometric designWorkspace analysis To reference this document use: http://resolver.tudelft.nl/uuid:a73b5768-c9d7-4e85-9a69-68a75cd8a1fb DOI https://doi.org/10.1007/978-3-030-58380-4_17 Publisher Springer, Cham, Switzerland ISBN 978-3-030-58379-8 Source ROMANSY 23 - Robot Design, Dynamics and Control: Proceedings of the 23rd CISM IFToMMSymposium Event ROMANSY 2020, 2020-09-20 → 2020-09-24, Online Series CISM International Centre for Mechanical Sciences, Courses and Lectures, 0254-1971, 601 Part of collection Institutional Repository Document type book chapter Rights © 2020 P. Tempel, M.W.E.M. Alfeld, V. van der Wijk Files PDF ROMANSY2020_paper_104.pdf 239.35 KB Close viewer /islandora/object/uuid:a73b5768-c9d7-4e85-9a69-68a75cd8a1fb/datastream/OBJ/view