1P1-B05 Manipulation of Link Mechanism by Wire Suspension System

Abstract

The manipulation of wire driven multiple link mechanisms by wire actuation is discussed. The relationship between the wire tensions and generated forces and torques on each link and joint is obtained. Then, the necessary number of wires and geometrical conditions of achieving arbitrary postures of link mechanisms are derived. Then, the number and conditions under gravity are also discussed. Using the obtained equations, how to install the wires into a two link mechanism is shown.