抄録
This paper discusses forward and inverse kinematics problem of parallel wire mechanism where an end-effector of the mechanism is suspended by multiple wires. The mechanism allows not only three dimensional positioning but also three dimensional orientating of the end-effector, unlike typical wire suspension type mechanism such as overhead crane. To distinguish parallel wire mechanisms, the paper first defines constraint states of the end-effector, then parallel wire mechanisms are classified into three categories based on the definition. Each characteristic of the mechanism corresponding to the classification is discussed. Especially, incompletely restrained type parallel wire mechanism is mainly treated in the view point of inverse kinematics and forward kinematics problem. An inverse kinematics analysis and a forward kinematics calculation method for the incompletely restrained type parallel wire mechanism are presented.
