Development of Parallel Wire Mechanism for Robot Teaching

摘要

We proposed a teaching device with a parallel wire mechanism and a teaching method for robot motion using it. The teaching device is called the parallel wire type teaching device. The teaching device consists of a moving platform, a base, six wires, six flat spiral springs and six encoders. The teaching device can measure the three-dimensional position and orientation of the moving platform relative to the base. By adopting the wires to the teaching device, the operability of the teaching has been significantly improved. Moreover, we designed a parallel wire type teaching device, in which the wire configuration is improved so that the amount of calculation is reduced.The position measurement accuracy and the processing time of the prototype of the teaching device was evaluated.