1A2-P22 Simulation and Experiment of Dynamical Motion for a Pared Type Parallel Wire Suspended Mechanism Considering Sag and Sway of Wires(Mechanism and Control for Wire Actuation System)

Abstract

A parallel wires driven mechanism with 6 or 7 wires can control position and orientation of a suspended object. However, it is not easy for the precise control of orientation by wires' length especially for large s ale wire suspended mechanism. We propose a pared type parallel wire mechanism which always keep the suspended object horizontally. When the control of orientation for the suspended object is needed, then we just add lo al actuators on the suspended object as an option. The positioning mechanism can be realized by only three motors. When the case of large scale parallel wire mechanism, the wires tend to sag and to swing. In the paper, we thus investigate the effect of the sag and the sway for the pared type parallel wire mechanism, by the dynamical simulation and experiment.