Cable-Driven Parallel Robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic performances. The rigid base frame of the CDPR is connected in parallel to the moving platform using cables. However, their orientation workspace is usually limited due to cable/cable and cable/moving platform collisions. This paper deals with the design, modelling and prototyping of a hybrid robot. This robot, which is composed of a CDPR mounted in series with a Parallel Spherical Wrist (PSW), has both a large translational workspace and an unlimited orientation workspace. It should be noted that the six degrees of freedom (DOF) motions of the moving platform of the CDPR, namely, the base of the PSW, and the three-DOF motion of the PSW are actuated by means of eight actuators fixed to the base. As a consequence, the overall system is underactuated and its total mass and inertia in motion is reduced.
翻译：Cable-Driver 平行机器人(CDPRs)提供高有效载荷容量、大型翻译工作空间和高动态性能。CDPR的僵硬基底框架与使用电缆的移动平台平行连接。然而,由于电缆/电缆和有线/移动平台的碰撞,它们的定向工作空间通常受到限制。本文涉及混合机器人的设计、建模和原型。这个机器人是由一个与平行球形手(PSW)连成系列的CDPR组成的,拥有一个大型的翻译工作空间和一个无限方向工作空间。应当指出,CDPR平台移动平台的六度自由运动,即PSW的基础和PSW的三度DOF运动,都通过固定在基地的八个演动器来激活。因此,整个系统没有被充分激活,其整体质量和惯性都减少了。
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