Investigation of a cable-driven parallel mechanism for interaction with a variety of surface, applied to the cleaning of free-form buildings

K.H.J. Voss, V. van der Wijk, Justus Laurens Herder

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3 Citations (Scopus)


In this paper, the capability of a specific cable-driven parallel mechanism to interact with a variety of surfaces is investigated. This capability could be of use in for example the cleaning of large building surfaces. A method is presented to investigate the workspace for which the cables do not interfere and a surface interaction force can be generated. This method takes into account the influence of cable mass. As an example, this method is used for the design of a mechanism with a workspace conform to the dimensions of a typical building facade. The mechanism is concluded to be feasible as long as there is room to locate the pulleys at an adequate distance from the surface
Original languageUndefined
Title of host publicationProceedings of the IFToMM 13th International Symposium on Advances in Robot Kinematics
EditorsJadran Lenarcic, Manfred Husty
Place of PublicationInnsbruck, Austria
ISBN (Print)978-94-007-4619-0
Publication statusPublished - 24 Jun 2012
Event13th International Symposium on Advances in Robot Kinematics, ARK 2012 - Innsbruck, Austria
Duration: 24 Jun 201228 Jun 2012
Conference number: 13

Publication series



Conference13th International Symposium on Advances in Robot Kinematics, ARK 2012
Abbreviated titleARK
Internet address


  • METIS-288470
  • IR-81849

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