A new methodology for the determination of the workspace of six-DOF redundant parallel structures actuated by nine wires

Carlo Ferraresi; Marco Paoloni; Francesco Pescarmona

doi:10.1017/S0263574706003055

Abstract

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The WiRo-6.3 is a six-degrees of freedom (six-DOF) robotic parallel structure actuated by nine wires, whose characteristics have been thoroughly analyzed in previous papers in reference. It is thought to be a master device for teleoperation; thus, it is moved by an operator through a handle and can convey a force reflection on the operator's hand. A completely new method for studying the workspace of this device, and of virtually any nine-wire parallel structure actuated by wire is presented and discussed, and its results are given in a graphical form.

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Article contents

A new methodology for the determination of the workspace of six-DOF redundant parallel structures actuated by nine wires

Abstract

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This article has been cited by the following publications. This list is generated based on data provided by Crossref.

Article contents

A new methodology for the determination of the workspace of six-DOF redundant parallel structures actuated by nine wires

Abstract

Keywords

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