Novel cable‐suspended RoboCrane support

Abstract

Purpose

This paper presents a new method for deploying RoboCrane‐type cable robots, without the need for fixed rigid cable support points. That is, the system provides its own deployable mobile overhead support points.

Design/methodology/approach

This paper presents a new RoboCrane support concept based on rigid members, cable actuation, and cable suspension. It is self‐contained and provides mobility for the required six overhead cable connections, thus extending the workspace of the existing RoboCrane. The paper presents the RoboCrane support concept overview, followed by kinematics and statics analysis, plus a case study of a specific design.

Findings

Design for kinematic horizontality, workspace, and statics are competing so the designer must make tradeoffs for the best system performance according to specific design needs.

Research limitations/implications

Since the support system plus RoboCrane are both cable‐suspended robots, there are limitations in the pseudostatic workspace, i.e. since the cables can only exert tension and cannot push, the motion range is limited.

Practical implications

Specific system design and deployment is still remaining work – practical issues such as outriggers for moment and tipping resistance, easy portability, control of the mast from the ground, and safety must be solved in the future.

Originality/value

Enables RoboCrane applications in many more arenas, such as automated construction, where rigid overhead cable support points are simply unavailable.

Citation

Williams, R.L. (2005), "Novel cable‐suspended RoboCrane support", Industrial Robot, Vol. 32 No. 4, pp. 326-333. https://doi.org/10.1108/01439910510600191