On fundamental design of wire configurations of wire-driven parallel manipulators with redundancy

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

Research output: Chapter in Book/Report/Conference proceedingChapter

26 Citations (Scopus)

Abstract

Wire-driven parallel architecture is a new robot mechanism which is suitable especially for high-speed transfer of lightweight objects. In this paper, the optimal wire configurations are derived within a class of mechanisms redundantly driven by 8 wires 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 wires must not contact. Heuristics on wire configurations were obtained through optimizing and analyzing isotropic configurations of actuator units. Classification and comparison of all the symmetric configurations derived the 2 optimal configurations: Rod-type and T-type. Simulation results proved the validity of these designs and showed their merits and demerits.

Original languageEnglish
Title of host publicationProceedings of the Japan/USA Symposium on Flexible Automation
EditorsK. Stelson, F. Oba
Pages151-158
Number of pages8
Publication statusPublished - 1996 Dec 1
Externally publishedYes
EventProceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2) - Boston, MA, USA
Duration: 1996 Jul 71996 Jul 10

Publication series

NameProceedings of the Japan/USA Symposium on Flexible Automation
Volume1

Other

OtherProceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2)
CityBoston, MA, USA
Period96/7/796/7/10

ASJC Scopus subject areas

  • Engineering(all)

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