2019-01285 - PhD Position F/M [CORDIS2019-HEPHAISTOS]Cables-driven parallel robots analysis

Contract type : Public service fixed-term contract

Level of qualifications required : Graduate degree or equivalent

Fonction : PhD Position

About the research centre or Inria department

The Inria Sophia Antipolis - Méditerranée center counts 37 research teams and 9 support departments. The center's staff (about 600 people including 400 Inria employees) is composed of scientists of different nationalities (250 foreigners of 50 nationalities), engineers, technicians and administrators. 1/3 of the staff are civil servants, the others are contractual. The majority of the research teams at the center are located in Sophia Antipolis and Nice in the Alpes-Maritimes. Six teams are based in Montpellier and a team is hosted by the computer science department of the University of Bologna in Italy. The Center is a member of the University and Institution Community (ComUE) "Université Côte d'Azur (UCA)".


Cable-Driven Parallel Robots (CDPRs) form a particular class of parallel robots whose moving platform is connected to a fixed base frame by cables. The cables may be coiled/uncoiled by motorized winches allowing a control system to adjust the cable lengths between the winch exit points and the cable attachment points on the platform. This type of robot may offer excellent performances in terms of workspace size and payload.

This thesis will take place at INRIA Sophia-Antipolis, close to Nice in the HEPHAISTOS team, that is considered as one of the world leader for CDPRs and which is offering an excellent environment for hardware/software  development
Occasionnal travel may be required and travel expenses will be covered within the limits of the scale in force



Assignments :

The objectives of this thesis are:

-establish accurate kineto-static model of CDPR with realistic cable models, taking into account additional measurements on the system beside cable lengths-establish performance indices for CDPR
-compare the ground-truth positioning accuracy with the one derived from the uncertain model
- develop basic algorithms for reconfiguring CDPRs (e.g. by modifying the position of the winches) so that they are more adapted for a given task

For a better knowledge of the proposed research subject :

Scientific references and picture are available at


Collaboration :
The recruited person will be in connection with the other members of the consortium, beside the members of the HEPHAISTOS team

Steering/Management :
The person recruited will be in charge of representing the HEPHAISTOS team during the consortium meeting.

Main activities

Main activities:

-mathematical analysis of CDPRs

-experimental works to validate the analysis

-writing scientific reports


Technical skills and level required :C programming, mechanical mathematical modeling,
interest in experimental validation. Basic
knowledge on Arduino/Phidgets for managing sensors will be a bonus

Languages : basic kowledge in french will be a bonus

Relational skills : fan of teamwork but able to work in autonomy


Benefits package

  • Subsidized meals
  • Partial reimbursement of public transport costs
  • Leave: 7 weeks of annual leave + 10 extra days off due to RTT (statutory reduction in working hours) + possibility of exceptional leave (sick children, moving home, etc.)
  • Possibility of teleworking (after 6 months of employment) and flexible organization of working hours
  • Professional equipment available (videoconferencing, loan of computer equipment, etc.)
  • Social, cultural and sports events and activities
  • Access to vocational training
  • Social security coverage


Salary :

  • 1985 € gross salary per mont the 1st and 2nd year
  • 2085 € gross salary per month the 3rd year