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

Carlo Ferraresi, Marco Paoloni, Stefano Pastorelli, Francesco Pescarmona

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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. © 2004 Wiley Periodicals, Inc.
Original languageEnglish
Pages (from-to)581 - 595
Number of pages15
JournalJournal of Robotic Systems
Issue number11
Publication statusPublished - Nov 2004


All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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