
152 Virtual Reality: Concepts and Technologies
carried inertia and does not allow the use of identical motors on all the axes. The
motors on the first generation actuators are located in the base and the movements are
transmitted to the different articulations by cable and pulley systems. This increases
complexity and reduces reliability.
On the other hand, a fully parallel structure (with as many sub-structures between
the fixed base and the robot gripper as the degrees of freedom, with each sub-structure
carrying a motor) presents the advantage of identical motors in the base, which reduces
the loaded mass and complexity. In addition, the segments ...