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, Carlo; Paoloni, M; Pastorelli, STEFANO PAOLO; Pescarmona, Francesco. - In: JOURNAL OF ROBOTIC SYSTEMS. - ISSN 0741-2223. - 21:(2004), pp. 581-595.

A new 6-DOF parallel robotic structure actuated by wires: the WiRo-6.3

FERRARESI, Carlo;PASTORELLI, STEFANO PAOLO;PESCARMONA, FRANCESCO
2004

Abstract

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.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/1400236
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