Design and Analysis of Cable-Driven Parallel Robot CaRISA: A Cable Robot for Inspecting and Scanning Artwork

Abstract

Cultural heritage science envisages understanding of methods and techniques used by past painters and sculptors in creating their masterpieces of art. Existing devices for in situ and non-destructive, automated scanning are large and bulky and built around the assumption of a perfectly planar surface. We are developing a lightweight, portable robot for scanning of paintings, marbles, or statues while explicitly allowing for their out-of-plane surface. This paper presents the kinematic design and analysis of the wrench-feasible workspace of a cable-driven parallel robot capable of positioning an imaging device with three translational and two rotational degrees of freedom. At the end stand geometric parameters optimized for the application requirements allowing for pan and tilt of 70°each in total, making scanning of the spatial surface of art objects possible.

Cable Robots as Conventional Linear Stage Alternatives for the Investigation of Complex-Shaped Objects via Macroscopic X-ray Fluorescence Imaging

“…In order to investigate the capabilities of cable robots as platforms for 3D MA-XRF imaging, we built a prototype and used our previously published design for a "Cable Robot for Inspecting and Scanning Artwork" (CaRISA) [15]. In this publication, the kinematic model to control the robot is also explained in detail.…”