6自由度8ケーブル駆動パラレルロボットの開発

抄録

A novel 6 dof cable-driven parallel robot with large workspace is proposed. This robot is redundantly driven by 8 cables. The parallel robot has the kinematic redundancy and the actuation redundancy. The proposed robot has large workspace with avoiding the collision between cables by the kinematic redundancy, and high precision with keeping positive tensions of all cables by the actuation redundancy. In this paper, design concept of the parallel robot, kinematics of the robot and how to manipulate the actuation redundancy are discussed.