CubiX: Portable Wire-Driven Parallel Robot Connecting to and Utilizing the Environment

TL;DR

CubiX is a portable wire-driven parallel robot that connects to and utilizes the environment, expanding its workspace by winding wires to external points, enabling versatile and adaptable robotic operations.

Contribution

This work introduces CubiX, a novel portable wire-driven robot capable of connecting to external environments with up to 8 wires, overcoming traditional workspace limitations.

Findings

CubiX can connect to the environment at any location within its operational range.

The robot's design allows for forming parallel wire-driven structures.

CubiX demonstrates enhanced workspace flexibility and portability.

Abstract

A wire-driven parallel robot is a type of robotic system where multiple wires are used to control the movement of a end-effector. The wires are attached to the end-effector and anchored to fixed points on external structures. This configuration allows for the separation of actuators and end-effectors, enabling lightweight and simplified movable parts in the robot. However, its range of motion remains confined within the space formed by the wires, limiting the wire-driven capability to only within the pre-designed operational range. Here, in this study, we develop a wire-driven robot, CubiX, capable of connecting to and utilizing the environment. CubiX connects itself to the environment using up to 8 wires and drives itself by winding these wires. By integrating actuators for winding the wires into CubiX, a portable wire-driven parallel robot is realized without limitations on its workspace. Consequently, the robot can form parallel wire-driven structures by connecting wires to the environment at any operational location.