Abstract
A parallel wire driven robot is considered as a parallel link robot, whose links are wires that are flexible and lightweight. The robot has several advantages. Parallel wire driven robots with such characteristics can be divided into 2 types, namely "Completely restrained type" (CR type) and "Incompletely restrained type" (IR type). Some research has already been done on CR type and IR type systems. If we can combine CR type with IR type, we can use a system that has characteristics of both CR and IR types. In this thesis, we propose a system that has both CR and IR type's configuration. To realize such a system, we propose a control method that can be used for both CR and IR types. We have developed a parallel wire driven system with eight wires. A method for determining the redundant parameters is proposed.
