Design of a Parallel Wire-Driven Manipulator for Wind Tunnels

Abstract: This paper deals with the design of a 6 d-o-f wire-driven manipulator. In the introduction we present its applica-tion field, why we chose a wire-driven manipulator and a short state of the art. In the second part we develop a geometrical ap-proach for the architecture design. In the third part, we present a kinematic and dynamic model of the manipulator which is used to compute the manipulator workspace and we introduce the con-trol principles.