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arXiv · 2510.22825

Kinematically Controllable Cable Robots with Reconfigurable End-effectors

Nan Zhang
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Abstract

To enlarge the translational workspace of cable-driven robots, one common approach is to increase the number of cables. However, this introduces two challenges: (1) cable interference significantly reduces the rotational workspace, and (2) the solution of tensions in cables becomes non-unique, resulting in difficulties for kinematic control of the robot. In this work, we design structurally simple reconfigurable end-effectors for cable robots. By incorporating a spring, a helical-grooved shaft, and a matching nut, relative linear motions between end-effector components are converted into relative rotations, thereby expanding the rotational workspace of the mechanism. Meanwhile, a bearing is introduced to provide an additional rotational degree of freedom, making the mechanism non-redundant. As a result, the robot's motion can be controlled purely through kinematics without additional tension sensing and control.

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Nan Zhang. 2025-10-26. Kinematically Controllable Cable Robots with Reconfigurable End-effectors. https://arxiv.org/abs/2510.22825

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