Design of cable-driven parallel robots with multiple platforms and endless rotating axes

Cable-driven parallel robots allow high performance operation due to their minimal actuated system mass. In order to deal with more complex handling operations it is desirable to have an additional actuated serial kinematics on the platform. This usually comes along with the problem of extra weight and energy supply for the motors on the platform. In this paper we present a new approach to the problem by introducing a hybrid design with coupled platforms and cabledriven serial kinematics. Especially the concept of an endless rotatable axis will be highlighted.