On design of a redundant wire-driven parallel robot WARP manipulator

Kiyoshi Maeda; Satoshi Tadokoro; Toshi Takamori; Manfred Hiller; Richard Verhoeven

On design of a redundant wire-driven parallel robot WARP manipulator

Kiyoshi Maeda, Satoshi Tadokoro, Toshi Takamori, Manfred Hiller, Richard Verhoeven

Research output: Contribution to journal › Conference article › peer-review

Abstract

A redundant wire-driven parallel robot WARP manipulator is a new robot mechanism which is suitable especially for high speed assembling of lightweight objects such as semiconductors. In this paper, a WARP manipulator was designed from the view point of working space by considering conditions that the traveling plate must be able to generate arbitrary amounts of force and moment and the wires are not to be in contact. Simulation results of working space proved the validity of design procedure stated here. A prototype of WARP manipulator was manufactured. Kinematic parameters were calibrated for position control.

Original language	English
Pages (from-to)	895-900
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2
Publication status	Published - 1999 Jan 1
Externally published	Yes
Event	Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA Duration: 1999 May 10 → 1999 May 15

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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title = "On design of a redundant wire-driven parallel robot WARP manipulator",

abstract = "A redundant wire-driven parallel robot WARP manipulator is a new robot mechanism which is suitable especially for high speed assembling of lightweight objects such as semiconductors. In this paper, a WARP manipulator was designed from the view point of working space by considering conditions that the traveling plate must be able to generate arbitrary amounts of force and moment and the wires are not to be in contact. Simulation results of working space proved the validity of design procedure stated here. A prototype of WARP manipulator was manufactured. Kinematic parameters were calibrated for position control.",

author = "Kiyoshi Maeda and Satoshi Tadokoro and Toshi Takamori and Manfred Hiller and Richard Verhoeven",

year = "1999",

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pages = "895--900",

journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 ; Conference date: 10-05-1999 Through 15-05-1999",

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T1 - On design of a redundant wire-driven parallel robot WARP manipulator

AU - Maeda, Kiyoshi

AU - Tadokoro, Satoshi

AU - Takamori, Toshi

AU - Hiller, Manfred

AU - Verhoeven, Richard

PY - 1999/1/1

Y1 - 1999/1/1

N2 - A redundant wire-driven parallel robot WARP manipulator is a new robot mechanism which is suitable especially for high speed assembling of lightweight objects such as semiconductors. In this paper, a WARP manipulator was designed from the view point of working space by considering conditions that the traveling plate must be able to generate arbitrary amounts of force and moment and the wires are not to be in contact. Simulation results of working space proved the validity of design procedure stated here. A prototype of WARP manipulator was manufactured. Kinematic parameters were calibrated for position control.

AB - A redundant wire-driven parallel robot WARP manipulator is a new robot mechanism which is suitable especially for high speed assembling of lightweight objects such as semiconductors. In this paper, a WARP manipulator was designed from the view point of working space by considering conditions that the traveling plate must be able to generate arbitrary amounts of force and moment and the wires are not to be in contact. Simulation results of working space proved the validity of design procedure stated here. A prototype of WARP manipulator was manufactured. Kinematic parameters were calibrated for position control.

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M3 - Conference article

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EP - 900

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

SN - 1050-4729

T2 - Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99

Y2 - 10 May 1999 through 15 May 1999

ER -