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.

A new methodology for the determination of the workspace of six-DOF redundant parallel structures actuated by nine wires / Ferraresi, Carlo; Paoloni, M; Pescarmona, Francesco. - In: ROBOTICA. - ISSN 0263-5747. - ELETTRONICO. - 25:(2007), pp. 113-120. [10.1017/S0263574706003055]

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

FERRARESI, Carlo;PESCARMONA, FRANCESCO
2007

Abstract

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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