A Reconfigurable Robot for Cable-Driven Parallel Robotic Research and Industrial Scenario Proofing

  • Jean-Baptiste Izard
  • Marc Gouttefarde
  • Micaël Michelin
  • Olivier Tempier
  • Cedric Baradat
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 12)


Picturing the interest of research institutions and industrial actors, the list of research and demonstration parallel cable-driven robot prototypes is growing by the day. LIRMM and Tecnalia have decided to put knowledge in common in order to develop novel concepts for cable-driven parallel robotics and demonstrate its capabilities in industrial tasks. We have developed together a reconfigurable cable robot for this purpose. The robot main characteristics, e.g. footprint, mobile platform geometry and drawing point layout can be modified at will, making it particularly suitable for studying in good conditions new configurations or novel control laws, as well as any scenario suggested by our partners. The present paper first provides an overview of the robot. Afterwards, a more specific view on the different components and the capabilities of reconfiguration are presented, as well as examples of layouts meant for various research and industrial projects.


Mobile Platform Output Point Ball Screw Laser Tracker Cable Length 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



The financial support of the ANR (grant 2009 SEGI 018 01) and of the Région Languedoc-Roussillon (grants 115217) are greatly acknowledged.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Jean-Baptiste Izard
    • 1
  • Marc Gouttefarde
    • 2
  • Micaël Michelin
    • 1
  • Olivier Tempier
    • 2
  • Cedric Baradat
    • 1
  1. 1.Tecnalia France MIBIMontpellierFrance
  2. 2.LIRMM, UMR 5506, CC 477Montpellier Cedex 5France

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