To enlarge the translational workspace of cable-driven robots, one common approach is to increase the number of cables. However, this introduces two challenges: (1) cable interference significantly reduces the rotational workspace, and (2) the solution of tensions in cables becomes non-unique, resulting in difficulties for kinematic control of the robot. In this work, we design structurally simple reconfigurable end-effectors for cable robots. By incorporating a spring, a helical-grooved shaft, and a matching nut, relative linear motions between end-effector components are converted into relative rotations, thereby expanding the rotational workspace of the mechanism. Meanwhile, a bearing is introduced to provide an additional rotational degree of freedom, making the mechanism non-redundant. As a result, the robot's motion can be controlled purely through kinematics without additional tension sensing and control.

翻译：为扩大缆绳驱动机器人的平移工作空间，一种常见方法是增加缆绳数量。然而，这会带来两个挑战：(1) 缆绳干涉会显著减小旋转工作空间；(2) 缆绳张力解不再唯一，导致机器人运动学控制困难。本研究为缆绳机器人设计了结构简单的可重构末端执行器。通过采用弹簧、螺旋槽轴及匹配螺母，将末端执行器组件间的相对线性运动转换为相对旋转，从而扩展了机构的旋转工作空间。同时，引入轴承以提供额外的旋转自由度，使机构成为非冗余系统。最终，该机器人的运动可完全通过运动学进行控制，无需额外的张力传感与控制环节。