Abstract
A wire suspended manipulator is proposed for extending its working space. A manipulator is fixed on a plate suspended by three wires. Four counter-weights driven by a ball screw mechanism are also introduced under the plate along its side each. In a wire suspended manipulator, a base may incline due to the motion of the manipulator and unexpected disturbance. A method of eliminating the swinging motion of the base plate in three-dimensional space by feedback control of four counter-weights is proposed.
