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.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
Ferraresi, C., Paoloni, M., Pastorelli, S., & Pescarmona, F. (2004). A new 6-DOF parallel robotic structure actuated by wires: The WiRo-6.3. Journal of Robotic Systems, 21(11), 581 - 595. https://doi.org/10.1002/rob.20037