Resumen

Parallel robot operated by tension cables with reconfigurable effector. The present invention deals with a robotic mechanism actuated by tension cables whose effector consists of a reconfigurable passive mechanism. The effector has the ability to position and orient itself accurately in the robot's workspace. In addition to this positioning, the effector is capable of modifying its internal structure by means of the action of the tension cables to position a secondary effector with respect to the main effector. In this way, the robot can perform tasks of manipulation, precision positioning or transport bulky and/or irregularly shaped objects without the need for actuators in the mobile platform. The mechanism of the effector consists of several springs capable of storing the mechanical energy supplied by the tension cables in order to exert more stable handling movements (Machine-translation by Google Translate, not legally binding)