A cable-operated robot

Abstract

The cable-driven robot (100) comprises: a base structure (1); several cables (C); a movable element (ME) suspended by the cables (C); a motion system (2) for moving the cables (C) and thus the movable element (ME) relative to the base structure (1), comprising several cable (C) motion units (20). At least one motion unit (20) comprises: a frame (21) hinged to a portion (11) of the base structure (1) about a hinge axis (V); a motor (3) mounted on the frame (21) comprising a rotation axis (31); and at least one cable (C) winding / unwinding element (4). The winding / unwinding element (4) comprises a drum (40) mounted on the frame (21) and driven to rotation by the rotation axis of the motor (3).The drum (40) comprises a lateral surface (41) that is shaped to include a helical groove (42) extending coaxially with respect to the axis of the drum (40) and defining a series of hollow turns, each of which is shaped to receive and internally contain a corresponding winding turn of the cable (C) during winding / unwinding of the cable (C) around the drum (40).

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