Patent ID: 11926051
Assignee: nan
Field: Other special machines (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A cable-driven parallel robot (CDPR), comprising:
a first rotor coupled to a first support, the first rotor positioned above a surface;
a second rotor coupled to a second support, the second rotor positioned above the surface;
an effector positioned at a horizontal planar location between the first rotor and the second rotor and at a vertical location above the surface;
a first set of cables coupled to the first rotor at first ends of the first set of cables and to the effector at second ends of the first set of cables; and
a second set of cables coupled to the second rotor at first ends of the second set of cables and to the effector at second ends of the second set of cables;
wherein the first rotor controls tension to the first set of cables and the second rotor controls tension to the second set of cables for moving the horizontal planar location, and
wherein the first rotor is vertically movable on the first support with the second rotor is vertically movable on the second support for moving the vertical location when the first rotor is vertically moved on the first support synchronous to the second rotor being vertically moved on the second support, and
wherein at least one of the first rotor comprises a winch drum, wherein the winch drum comprises a first set of grooves and a second set of grooves across a portion of length of the winch drum, wherein the first set of grooves is placed at an opposite orientation from the second set of grooves, and wherein the winch drum is configured to coil at least one cable of the first set of cables or the second set of cables using the first set of grooves and at least another cable of one of the first set of cables or the second set of cables using the second set of grooves.