4本のワイヤで懸垂された移動テーブルにおける運動学特性の解析

抄録

A moving platform system in 3D space using wires is proposed and its inverse kinematics are calculated. The platform is suspended by four wires and can be placed anywhere in the workspace. The system can move its center of gravity by moving the counterweight and maintain its posture horizontally. However, the counterweight cannot control the posture around the vertical axis. Therefore, kinematics around the vertical axis is analyzed. In addition, the range of motion of this system in the rotational direction is determined.