Parallel robot prototype driven by four cables: experimental results

  • Xavier Aguas Escuela Politécnica Nacional
  • Marco Antonio Herrera Escuela Politécnica Nacional
  • Nelson Sotomayor Escuela Politécnica Nacional
  • Oscar Camacho Escuela Politécnica Nacional
Keywords: cables, kinematic, dynamic, PID, robot.


Parallel cable robots are a special class of parallel robots which are formed by replacing rigid links with cables. Due to the characteristics provided by the cables, like low inertia and greater range of motion, this type of robots can perform a wide range of applications such as: moving cameras from one place to another in sporting events, motoring industry and mainly in rehabilitation of limbs. However, due to the unilateral property of cables, keeping them tensioned becomes a great challenge. This article describes the construction of a parallel robot driven by four cables with the aim to draw three figures through the study of the kinematic and dynamic model considering the redundancy, i.e., more cables than degrees of freedom, in order to avoid those cables that require more tension during the motion of the end-effector.


Download data is not yet available.


Aguas, X., Herrera, M., Camacho, O., & Leica, P. (2018). A Sliding Mode Control for a Planar 4-Cable Direct Driven Robot. En 2018 International Conference on Information Systems and Computer Science (INCISCOS) (pp. 23–28).
Aguas, X. I., Cuaycal, A., Paredes, I., & Herrera, M. (2018). A Fuzzy Sliding Mode Controller for Planar 4-Cable Direct Driven Robot. Enfoque UTE, 9(4), 99–109.
Anson, M. (2015). Cable-driven parallel manipulators with base mobility: A planar case study (PhD Thesis). State University of New York at Buffalo.
Gallina, P., Rosati, G., & Rossi, A. (2001). 3-d.o.f. Wire Driven Planar Haptic Interface. Journal of Intelligent and Robotic Systems, 32(1), 23–36.
Gallina, P., Rossi, A., & Williams II, R. L. (2001). Planar cable-direct-driven robots, part ii: Dynamics and control. En ASME. DECT2001 ASME Design Engineering Technical Conference. Pittsburgh: ASME Publisher (Vol. 2, pp. 1241–1247).
Heredia, J., & Mena, S. (2017). Implementación de un manipulador móvil para desarrollar tareas de seguimiento de trayectoria con un controlador tipo PID. Escuela Politécnica Nacional, Quito. Recuperado de
Khakpour, H., Birglen, L., & Tahan, S. A. (2014). Synthesis of Differentially Driven Planar Cable Parallel Manipulators. IEEE Transactions on Robotics, 30(3), 619–630.
Khosravi, M. A., Taghirad, H. D., & Toosi, K. N. (2012). Dynamic Analysis and Control of Cable Driven Robots with Elastic Cables.
Khosravi, M., & Taghirad, H. (2013). Experimental Performance of Robust PID Controller on a Planar Cable Robot. En T. Bruckmann & A. Pott (Eds.), Cable-Driven Parallel Robots (pp. 337–352). Berlin, Heidelberg: Springer Berlin Heidelberg.
Pott, A., Mütherich, H., Kraus, W., Schmidt, V., Miermeister, P., Dietz, T., & Verl, A. (2013). Cable-driven parallel robots for industrial applications: The IPAnema system family. En IEEE ISR 2013 (pp. 1–6).
Williams II, R., & Gallina, P. (2003). Translational Planar Cable-Direct-Driven Robots. Journal of Intelligent and Robotic Systems, 37(1), 69–96.
Zanotto, D., Rosati, G., Minto, S., & Rossi, A. (2014). Sophia-3: A Semiadaptive Cable-Driven Rehabilitation Device With a Tilting Working Plane. IEEE Transactions on Robotics, 30(4), 974–979.
How to Cite
Aguas, X., Herrera, M. A., Sotomayor, N., & Camacho, O. (2019). Parallel robot prototype driven by four cables: experimental results. Enfoque UTE, 10(1), pp. 13 - 25.
Automation and Control, Mechatronics, Electromechanics, Automotive