抄録
A parallel wire suspension mechanism with a hierarchical structure is proposed. The mechanism consists of six wire-feed actuators and four moving tables in the two dimensional space on a virtical plane.Controlling six wire lengths, both a complete geometrical constraint type mechanism and an incomplete geometrical constraint type can be realized. The characteristics of mechanical compliance in assembling process are analyzed for an incomplete type by this mechanism and the relationships between wire length and compliance characteristics are made clear．
