Open-Source Planar Cable-Driven Robot

This repository shares all the required information to build and control a simple and low-cost planar cable-driven parallel robot with four actuators, from editable CAD files and programs to electrical circuitry. The robot can be carted and moved around easily. It can also be programmed and operated with an included teach pendant without a computer connected to the machine. Voltages and currents fed to the actuators can be acquired through a D-sub connector for measurements.

See:<br> http://cctomm.ca/2023/CCToMM_M3_Symposium_paper_9.pdf<br> for more information. Corresponding citation is:<br> Design, Control, and Experiments of a Low-Cost Open-Source Planar Cable-Driven Parallel Robot" by Mikael Arslan and Lionel Birglen, 2023 CCToMM M3 Symposium, June 19-20, 2023.

Video demonstrations:<br> https://www.youtube.com/watch?v=gsjz_0bn3mc<br> https://www.youtube.com/watch?v=OgFYR7lME20<br>

All files by Mikael Arslan and Lionel Birglen <br /> Polytechnique Montreal<br /> 2022-...

DISCLAIMER:

This hardware and software project is provided "as is", and at your own risk. Under no circumstances shall any author be liable for direct, indirect, special, incidental, or consequential damages resulting from the use, misuse, or inability to use this hardware/software, even if the authors have been advised of the possibility of such damages.