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

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.