Abstract
A large scale parallel wire-suspended robot realizes a three dimensional positioning mechanism with simple and light weight using multiple wires. A suspended object of the mechanism can be manipulated freely in large workspace. The large scale wire robot has a characteristic of generating wire's sag. Therefore, a dynamical model considering the wire's sag is important when controlling the suspended object. The 3-D positioning wire suspended mechanism can be constructed by three wires. When adding one more wire for the mechanism, the mechanism has redundant D.O.F. which can be used to increase rigidity of the mechanism. The redundant type of the wire-suspended robot is analyzed only the case of the wire's sag modeling. The study proposes the modeling considering wire's sag. Then the wire-suspended robot with four wires is analyzed in the view point of using the redundancy of wire length. The study also proposes how to control the redundant wire's lengths.
