On design of a redundant wire-driven parallel robot WARP manipulator

A redundant wire-driven parallel robot, the WARP manipulator, is a new robot mechanism which is suitable especially for high speed assembling of lightweight objects such as semiconductors. In this paper, a WARP manipulator was designed from the viewpoint of working space by considering conditions that the travelling plate must be abbe to generate arbitrary amounts of force and moment and the wires are not to be in contact. Simulation results of working space proved the validity of the design procedure described. A prototype of WARP manipulator was constructed. The kinematic parameters were calibrated for position control