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wire actuation

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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
Journal:

Robotica / Volume 25 / Issue 1 / January 2007

Published online by Cambridge University Press:

12 October 2006, pp. 113-120
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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.