JRM Vol.27 No.6 pp. 599-607
doi: 10.20965/jrm.2015.p0599


Mechanism and Control of Parallel-Wire Driven System

Hitoshi Kino* and Sadao Kawamura**

*Fukuoka Institute of Technology
3-30-1 Wajiro-higashi, Higashi-ku, Fukuoka 811-0295, Japan

**Ritsumeikan University
1-1-1 Noji-higashi, Kusatsu, Shiga 525-8577, Japan

September 29, 2015
October 19, 2015
December 20, 2015
cable, tendon, suspended, crane, parallel
A parallel-wire driven system

Many of the conventional robot manipulators have a serial-link mechanism to imitate a human arm. In recent years, however, industries have been aggressive in putting parallel-link mechanisms into practical use to cope with various problems that no conventional serial-link mechanisms have ever been able to solve. Under the circumstances, this paper describes a parallel-wire driven system, one of the parallel mechanisms. It is a system to drive a controlled object with flexible and light wires instead of rigid links. It has many advantages over conventional serial-link mechanisms or other ordinary parallel-link mechanisms. This paper first overviews previous studies on parallel-wire driven robots, and then details the mechanism and control of these systems, as well as examples of their application.

Cite this article as:
H. Kino and S. Kawamura, “Mechanism and Control of Parallel-Wire Driven System,” J. Robot. Mechatron., Vol.27, No.6, pp. 599-607, 2015.
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Last updated on Nov. 21, 2018