@inbook{e6c24717beb44d62b5ab4ad9b41e3751,
title = "On fundamental design of wire configurations of wire-driven parallel manipulators with redundancy",
abstract = "Wire-driven parallel architecture is a new robot mechanism which is suitable especially for high-speed transfer of lightweight objects. In this paper, the optimal wire configurations are derived within a class of mechanisms redundantly driven by 8 wires from the viewpoint of working space. The working space is determined by conditions that the traveling plate must be able to receive arbitrary force and moment and that the wires must not contact. Heuristics on wire configurations were obtained through optimizing and analyzing isotropic configurations of actuator units. Classification and comparison of all the symmetric configurations derived the 2 optimal configurations: Rod-type and T-type. Simulation results proved the validity of these designs and showed their merits and demerits.",
author = "Satoshi Tadokoro and Shinsuke Nishioka and Tetsuya Kimura and Motofumi Hattori and Toshi Takamori and Kiyoshi Maeda",
year = "1996",
month = dec,
day = "1",
language = "English",
series = "Proceedings of the Japan/USA Symposium on Flexible Automation",
pages = "151--158",
editor = "K. Stelson and F. Oba",
booktitle = "Proceedings of the Japan/USA Symposium on Flexible Automation",
note = "Proceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2) ; Conference date: 07-07-1996 Through 10-07-1996",
}