Some cable-driven parallel robots (CDPRs) can be rapidly deployed on-site.To achieve such deployability, the fixed frame is usually substituted by four masts.However, not having any rigid fixture between the masts reduces the overall stiffness of the CDPR.This paper introduces a CDPR called Rocaspect, that has four compliant masts.The robot behavior and accuracy is evaluated experimentally and three different mast models are proposed.
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Zane et al. (2024) studied this question.
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