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A proposal for a wire suspended manipulator: A kinematic analysis

Published online by Cambridge University Press:  01 January 1999

Tamio Arai ,
Shojiro Matsumura ,
Yuji Yoshimura  and
Hisashi Osumi
Tamio Arai
Affiliation:
The University of Tokyo, 7-3-1, Hongo, Bunkyo-ku Tokyo 113, Japan
Shojiro Matsumura
Affiliation:
The University of Tokyo, 7-3-1, Hongo, Bunkyo-ku Tokyo 113, Japan
Yuji Yoshimura
Affiliation:
The University of Tokyo, 7-3-1, Hongo, Bunkyo-ku Tokyo 113, Japan
Hisashi Osumi
Affiliation:
Chuo University, 1-13-27, Kasuga, Bunkyo-ku, Tokyo 112, Japan
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Abstract

Industrial robots have a high positioning accuracy and stiffness but their work spaces are limited because their bases are fixed to the ground. To enlarge the work spaces, this paper proposes a novel mechanism, a wire suspended manipulator with three degrees of freedom. First, the kinematics of the mechanism is derived from both force and geometric constraints. Second, the volume of the work space is numerically calculated. After the evaluation of manipulability of the wire suspended system, guidelines for designing parameters are studied.

Keywords

Wire suspended manipulatorKinematic analysisIndustrial robots
Type
Research Article
Information
Robotica , Volume 17 , Issue 1 , January 1999 , pp. 3 - 9
Copyright
© 1999 Cambridge University Press

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