抄録
Wire-actuated platform is a parallel mechanical system consisting of a platform and a number of length-adjustable wires. In order to deal with an inverse kinematics of this mechanical system, we have to take account of static conditions due to the conspicuous characteristic of a wire that it only can hold a tensile force. In this study, we deal with a formulation and a solution procedure that take account of the static conditions as well as a multi-world situation that can occur as the result of a kinematic motion of the platform. Simulation results of its motion based on the proposed inverse kinematic approach are also demonstrated.
