This letter presents a novel Cable-Driven Parallel Robot dedicated to laser-scanning operations. The proposed device can inspect low-accessibility environments, thanks to a self-deployable end-effector, which can be inserted in a closed container through very small access areas, such as hatches, pipes, etc. The reconfigurable end-effector is suspended and actuated by extendable cables, and is equipped with an optical mirror, which is used to deflect a laser beam produced by a frame-fixed laser distance sensor. Thanks to its large orientation capabilities, the machine can record the position of points belonging to a large portion of the surface to be scanned, primarily by tilting and panning the end-effector. The robot is equipped with a frame-orientation calibration device, which can align the machine frame to earth gravity before operation. The robot capabilities are validated by a prototype, which experimentally reconstruct benchmark surfaces.

中文翻译：

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用于激光扫描应用的具有大旋转能力的可展开电缆驱动并联机器人

这封信展示了一种专用于激光扫描操作的新型电缆驱动并联机器人。由于可自行部署的末端执行器，所提出的设备可以检查低可达性环境，该末端执行器可以通过非常小的访问区域（例如舱口、管道等）插入封闭容器中。可重新配置的末端执行器被悬挂和由可伸缩电缆驱动，并配备有光学镜，用于偏转由固定框架的激光距离传感器产生的激光束。由于其强大的定向能力，该机器可以记录属于待扫描表面大部分的点的位置，主要是通过倾斜和平移末端执行器。机器人配备框架定向校准装置，可在操作前将机器框架对准地球重力。