On Fundamental Design of Cable Configurations of Cable-Driven Parallel Manipulators with Redundancy

Satoshi Tadokoro, Motofumi Hattori, Shinsuke Nishioka, Tetsuya Kimura, Toshi Takamori, Kiyoshi Maeda

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


Cable-driven parallel architecture is a new robot mechanism which is suitable especially for high-speed transfer of lightweight objects. In this paper, the optimal cable configurations are derived within a class of mechanisms redundantly driven by 8 cables from the viewpoint of working space. The working space is determined by conditions that the traveling plate must be able to receive arbitrary force and moment and that the cables must not contact. Heuristics on cable configurations were obtained through optimizing and analyzing isotropic configurations of actuator units. Classification and comparison of various symmetric configurations derived the 2 optimal configurations: Rod-type and T-type. Simulation results proved the validity of these designs and showed their advantages and disadvantages.

Original languageEnglish
Pages (from-to)2247-2254
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number647
Publication statusPublished - 2000
Externally publishedYes


  • Cable-Driven Parallel Robot
  • Conceptual Optimal Design
  • High-Speed Motion
  • Large Orientation Change
  • WARP
  • Wire-Driven Manipulator

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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