Incremental Inverse Kinematics of Wire-Suspended Parallel Mechanical System Taking into Account Many-Worlds Situation
- Kazuyuki Hanahara
AbstractWire-suspended platform is a parallel mechanical system consisting of a rigid platform and a number of length-adjustable wires. In order to deal with the kinematics of this type of mechanical system, we have to take into account the conspicuous characteristic of a wire that it can take only a tensile force. It has been demonstrated in the previous studies that this leads to plural possible kinematic states corresponding to a given set of wire lengths. In this study, we formulate an inverse kinematics problem in an incremental form based on the linearization of the kinematic relation of the system. Displacement of the mass center position of the platform is also taken into account for the articulation variables, in addition to the wire member lengths. A solution procedure that deals with the many-worlds situation is developed under the assumption of some adequate sensing devices. Numerical experiments based on computer simulation are carried out and the feasibility of the proposed approach is demonstrated with the attained kinematic motions of the simulated platform system.
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