Tendon-based parallel manipulators with n d.o.f. use at least m = n + 1 tendons to guide the end effector along a given trajectory. Since tendons can only transmit limited and tractive forces, it is essential to apply a valid tendon force distribution. Due to safety and precision requirements, a combined position and force control is needed where the force calculation delivers the desired tendon force distributions. The high dynamic potential of the robot demands for realtime capable algorithms. To avoid steps in the motor torques the calculated tension force distributions also have to be continuous along the trajectory. In this paper, a new algorithm for tendon force distribution calculations capable for usage on a realtime system is proposed and its continuity is proven.

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.

Essential points in robotic facilities for search and rescue at large-scale urban earthquakes were investigated. A parallel robot driven by multiple cables is proposed for transfer of debris. It is portable and is assembled rapidly in destroyed houses. An identification algorithm of mechanism parameters peculiar to this portable robot was studied. On the basis of identification error analysis, optimal number of measurement points and the size of an identification reference frame were obtained.

The inverse kinematic problem of robot manipulators requires the computation of the joint coordinates to execute prescribed trajectories. It implies the determination of six dependant joint coordinates in a kinematic multibody loop by six nonlinear algebraic constraint equations. The approach presented yields a nonredundant system of constraint equations which is always partitioned into an implicit core system and explicitly solvable equations. General rules have been derived for the generation of these equations. For numerous classes of manipulator designs even the complete system of equations can be solved in closed form. The effectiveness of the method has been proved by several technical applications in cooperation with the West German robot industry.>