This paper describes a novel parallel robotic structure with six degrees of freedom, whose end effector is driven by nine wires operated by motors: the WiRo-6.3. The ideas that led to the conception of the robot are thoroughly discussed and analyzed. The workspace of WiRo-6.3 has been numerically analyzed, and it is significantly larger than the one of other analogous seven-wire structures. The forward and inverse kinematics are both solved in closed form.
A new 6-DOF parallel robotic structure actuated by wires: the WiRo-6.3 / FERRARESI C.; PAOLONI M; PASTORELLI S; PESCARMONA F. - In: JOURNAL OF ROBOTIC SYSTEMS. - ISSN 0741-2223. - 21(2004), pp. 581-595.
|Titolo:||A new 6-DOF parallel robotic structure actuated by wires: the WiRo-6.3|
|Data di pubblicazione:||2004|
|Appare nelle tipologie:||1.1 Articolo in rivista|