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

Published online by Cambridge University Press:  12 October 2006

Carlo Ferraresi ,
Marco Paoloni  and
Francesco Pescarmona
Carlo Ferraresi
Affiliation:
Dipartimento di Meccanica, Politecnico di Torino, Corso Duca degli Abruzzi, 24, Torino 10129, Italy.
Marco Paoloni
Affiliation:
Robotic Section of the Nuclear Fusion Unit, ENEA C.R. Casaccia, Via Anguillarese, 301, Roma 00060, Italy.
Francesco Pescarmona
Affiliation:
Dipartimento di Meccanica, Politecnico di Torino, Corso Duca degli Abruzzi, 24, Torino 10129, Italy.
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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.

Keywords

Parallel robotworkspacewire actuation
Type
Article
Information
Robotica , Volume 25 , Issue 1 , January 2007 , pp. 113 - 120
Copyright
2006 Cambridge University Press

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