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 journalConference articlepeer-review

129 Citations (Scopus)

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 languageEnglish
Pages (from-to)895-900
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
Publication statusPublished - 1999 Jan 1
Externally publishedYes
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: 1999 May 101999 May 15

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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