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 |
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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