抄録
This paper proposes a three D.O.F completely restrained parallel wire robot with four motors which enables fast three D.O.F positioning. The control of orientation for the end-effector part by the conventional three D.O.F completely restrained parallel wire robot is impossible. Because, the motion D.O.F by four motors is used only for three D.O.F positioning without considering the orientation of the end-effector part. The end-effector part of the mechanism should move keeping horizontal orientation when considering actual tasks such as pick and place. The characteristic of keeping with horizontal orientation has been realized by "rigid type" parallel link robot such as Delta robot. This paper proposes a new mechanism to realize the characteristic keeping with horizontal orientation for three D.O.F completely restrained parallel wire robot. By using parallel paired wires for one motor, the end-effector part always moves with keeping horizontal orientation for any positioning point in the work space of the robot.
