Résumé
Reconfigurable cable-driven parallel robots have proved to be very effective in tasks involving complex and cluttered environments. This paper presents a methodology for determining an appropriate cable routing between the cable exit points and the winches. The cable exit points are defined beforehand and the pulleys can be discretely positioned on the robot frame. A six-degree-of-freedom (6-DOF) reconfigurable cable-driven parallel robot is used as an illustrative example. The locations and connections between all pulleys are obtained based on structural and mechanical constraints, mainly imposed by the pulleys. Two specific cases are studied and the optimal configuration for each case is presented in an illustrative and quantitative manner.