Inverse kinematics analysis for incompletely restrained parallel wire mechanisms

Motoji Yamamoto, A. Mohri

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)

Abstract

This paper discusses parallel wire mechanisms where an end-effector of the mechanism is suspended by multiple wires. This mechanism enables not only three dimensional positioning but also three dimensional orientating of the end-effector, unlike typical wire suspension type mechanism such as overhead crane. To discuss the parallel wire mechanism, two forms of basic dynamic equations are presented. Then dynamical properties of the mechanism is described based on the basic equations. This paper mainly issues an inverse kinematics problem for general incompletely restrained type parallel wire mechanism. To distinguish some parallel wire mechanisms including the incompletely restrained type, the paper first defines constraint states of the end-effector, then parallel wire mechanisms are classified into three categories based on the definition. Each characteristic of the mechanism corresponding to the categories is described. Especially, incompletely restrained type parallel wire mechanism is mainly discussed in the view point of inverse kinematics problem. After arguing a general solution for the inverse kinematics problem of the incompletely restrained type parallel wire mechanism, an actual mechanism of the incompletely restrained type mechanism is presented and the inverse kinematics problem for this mechanism is analyzed.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages504-509
Number of pages6
Volume1
Publication statusPublished - 2000
Event2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu, Japan
Duration: Oct 31 2000Nov 5 2000

Other

Other2000 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryJapan
CityTakamatsu
Period10/31/0011/5/00

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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  • Cite this

    Yamamoto, M., & Mohri, A. (2000). Inverse kinematics analysis for incompletely restrained parallel wire mechanisms. In IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 504-509)