CubiX: Portable Wire-Driven Parallel Robot Connecting to and Utilizing the Environment
<|reference_start|>CubiX: Portable Wire-Driven Parallel Robot Connecting to and Utilizing the Environment: A wire-driven parallel robot is a type of robotic system where multiple wires are used to control the movement of a end-effector. The wires are attached to the end-effector and anchored to fixed points on external structures. This configuration allows for the separation of actuators and end-effectors, enabling lightweight and simplified movable parts in the robot. However, its range of motion remains confined within the space formed by the wires, limiting the wire-driven capability to only within the pre-designed operational range. Here, in this study, we develop a wire-driven robot, CubiX, capable of connecting to and utilizing the environment. CubiX connects itself to the environment using up to 8 wires and drives itself by winding these wires. By integrating actuators for winding the wires into CubiX, a portable wire-driven parallel robot is realized without limitations on its workspace. Consequently, the robot can form parallel wire-driven structures by connecting wires to the environment at any operational location.<|reference_end|>
@article{inoue2024cubix:,
    title={CubiX: Portable Wire-Driven Parallel Robot Connecting to and Utilizing
  the Environment},
    author={Shintaro Inoue, Kento Kawaharazuka, Temma Suzuki, Sota Yuzaki, Kei
  Okada, Masayuki Inaba},
    journal={arXiv preprint arXiv:2410.05933},
    year={2024},
    archivePrefix={arXiv},
    eprint={2410.05933},
    primaryClass={cs.RO}
}