Design and analysis of cable-driven parallel robot CaRISA: A cable robot for inspecting and scanning artwork

Philipp Tempel*, Matthias Alfeld, Volkert van der Wijk

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeChapterScientificpeer-review

1 Citation (Scopus)


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.

Original languageEnglish
Title of host publicationROMANSY 23 - Robot Design, Dynamics and Control
Subtitle of host publicationProceedings of the 23rd CISM IFToMMSymposium
EditorsG Venture, Y Takeda, J Solis, A Konno
Place of PublicationCham, Switzerland
ISBN (Electronic)978-3-030-58380-4
ISBN (Print)978-3-030-58379-8
Publication statusPublished - 2020
EventROMANSY 2020: 23rd CISM-IFToMM Symposium onTheory and Practice of Robots and Manipulators - Online
Duration: 20 Sept 202024 Sept 2020

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
ISSN (Print)0254-1971
ISSN (Electronic)2309-3706


ConferenceROMANSY 2020


  • Cable-driven parallel robot
  • Geometric design
  • Workspace analysis


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