Archivio Istituzionale della RicercaThe 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.
| File | Dimensione | Formato | |
|---|---|---|---|
|
1508447.pdf
accesso aperto
Tipologia:
2. Post-print / Author's Accepted Manuscript
Licenza:
PUBBLICO - Tutti i diritti riservati
Dimensione
1.14 MB
Formato
Adobe PDF
|
1.14 MB | Adobe PDF | Visualizza/Apri |
Pubblicazioni consigliate
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
https://hdl.handle.net/11583/1508447
Attenzione
Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo