This paper tackles the problem of improving the connection between the fixed frame and the
end-effector of planar and spatial cable-driven robots. A new design concept is detailed,
which consists in adding pulleys to the attachment between the cables and the end-effector.
These reflective pulleys must have the same radius as the ones at the frame in order to
compensate their geometry. Without this modification in the end-effector, the usual
simplification of the point-to-point method used to model the connection between frame and …