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IJAT Vol.4 No.4 pp. 372-379
doi: 10.20965/ijat.2010.p0372
(2010)

Paper:

A Gravity-Powered Mechanism for Extending the Workspace of a Cable-Driven Parallel Mechanism: Application to the Appearance Modelling of Objects

Clément Gosselin and Samuel Bouchard

Laboratoire de Robotique, Département de Génie Mécanique, Université Laval Québec, 1065 avenue de la médecine, Québec, Qc, Canada

Received:
March 16, 2010
Accepted:
April 27, 2010
Published:
July 5, 2010
Keywords:
parallel mechanism, cable-driven parallel mechanism, appearance modelling
Abstract

This paper presents a gravity-powered passive onedof mechanism used to extend the workspace of a six-degree-of-freedom cable-driven parallel mechanism. The passive mechanism is mounted on the platform of the cable-driven mechanism in order to increase the useful workspace of the system. The application that stimulated the development of the mechanism is a system for capturing the light field of an object to reproduce the appearance of artefacts. The concept is based on a six-degree-of-freedom (6-dof) cable-driven parallel mechanism that is used to move a high resolution camera around the object. The geometry of the mechanism is optimized in order to cover a workspace defined as a hemisphere centred on the object.

Cite this article as:
C. Gosselin and S. Bouchard, “A Gravity-Powered Mechanism for Extending the Workspace of a Cable-Driven Parallel Mechanism: Application to the Appearance Modelling of Objects,” Int. J. Automation Technol., Vol.4, No.4, pp. 372-379, 2010.
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Last updated on Sep. 09, 2019