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

Claim 15:
16. A cable-driven parallel robot (CDPR), comprising:
a first set of rotors coupled to a first support, the first set of rotors positioned above a surface;
a second set of rotors coupled to a second support, the second set of rotors positioned above the surface;
an effector positioned at a horizontal planar location between the first set of the rotors and the second set of rotors and at a vertical location above the surface;
a first set of cables coupled to the first set of rotors 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 comprising at least two cables is coupled to the second set of rotors 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 set of rotors controls tension to the first set of cables and the second set of rotors controls tension to the second set of cables for moving the horizontal planar location,
wherein the first set of rotors is vertically movable on the first support with the second set of rotors is vertically movable on the second support for moving the vertical location when the first set of rotors is vertically moved on the first support synchronous to the second set of rotors being vertically moved on the second support, and
wherein at least one of the first set of rotors 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.