Abstract
A prototype of a spatial cable-suspended robot is designed and built and some experimental tests are carried out to verify the feasibility of the designed system, its operation and its compatibility with simulation results. Cable robots, as a modified version of cranes in which the load can be better controlled, are widely applicable for object handling. Here, an under-constrained version of this robot is manufactured which has the larger applicable workspace and the probability of cable interference is less. Experimental tests are carried out for monitoring the kinetics of the system including cable forces, motor torques and also its kinematics responses including actual tracking of the end effector and actual angular velocity of the motors. The cable-suspended robot is called ICaSbot (IUST Cable-Suspended robot). It can be seen that the obtained results are satisfactorily compatible to the theoretical results gained for the same six DOFs movements of simulation studies.
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