Abstract: A method for parameterizing a photogrammetric cable robot, having a frame, a mobile platform carrying a camera and cables, each cable extending from a mobile platform attachment point to a position-adjustable exit point, while remaining linked to the frame. The robot's maximum workspace is defined by the ranges of possible positions of the different cable exit points. A set of pairs of setpoint positions and orientations of the platform is determined, for performing the point measurements of a scene by photogrammetry. Then, a genetic algorithm comprising crossing, transformation and selection operations is applied to a population of vectors, each representing respective positions of cable exit points, the selection being made via a fitness function involving a first objective function evaluating a collision percentage and a second objective function evaluating a percentage violation of a mobile platform constraint of equilibrium, when the platform assumes the different setpoint positions and orientations.

Abstract: A method for parameterizing a photogrammetric cable robot, having a frame, a mobile platform carrying a camera and cables, each cable extending from a mobile platform attachment point to a position-adjustable exit point, while remaining linked to the frame. The robot's maximum workspace is defined by the ranges of possible positions of the different cable exit points. A set of pairs of setpoint positions and orientations of the platform is determined, for performing the point measurements of a scene by photogrammetry. Then, a genetic algorithm comprising crossing, transformation and selection operations is applied to a population of vectors, each representing respective positions of cable exit points, the selection being made via a fitness function involving a first objective function evaluating a collision percentage and a second objective function evaluating a percentage violation of a mobile platform constraint of equilibrium, when the platform assumes the different setpoint positions and orientations.

Abstract: A cable robot comprises a platform supporting an effector and cables. Each cable is connected on one end to an attachment point on the platform and extends from this attachment point to an anchoring point attached to a supporting structure. The anchoring points being contained in more than one plane. The cables include a set of driving cables whose ends are connected to a winch. The cables include a set of reconfigurable cables, whose anchoring points are movable relative to the supporting structure. The supporting structure is beared by a set of independent mobile bases having anchorings to fix the mobile bases to the ground.

Abstract: A mobile platform which is designed to equip a cable-driven parallel robot, characterized in that the platform is configured to support at least one roll of a fabric made of composite material, and to permit the unwinding of said at least one roll, in order to carry out draping of a preform, in particular a dry preform, by controlled displacement of the platform above a draping line.

Abstract: A cable robot comprises a platform supporting an effector and cables. Each cable is connected on one end to an attachment point on the platform and extends from this attachment point to an anchoring point attached to a supporting structure. The anchoring points being contained in more than one plane. The cables include a set of driving cables whose ends are connected to a winch. The cables include a set of reconfigurable cables, whose anchoring points are movable relative to the supporting structure. The supporting structure is beared by a set of independent mobile bases having anchorings to fix the mobile bases to the ground.

Abstract: A parallel robot is composed of two kinematic chains connecting a base to a platform having two degrees of freedom so that the platform is movable with respect to the base in a plane (x, z) of a space (x, y, z) in which the directions x, y and z are orthogonal to one another. The kinematic chains each having a bend connecting a proximal sub-chain, itself connected to the base, and a distal sub-chain, itself connected to the platform. The proximal sub-chain drives the bend in translation in the plane (x, z). The distal sub-chain of at least one of the two kinematic chains includes two rods separated from each other in the direction (y). The first and second ends of each rod are connected to the bend and the platform, respectively, by respective systems of connections composed of two pivots with axes orthogonal to each other.