First steps toward a sketch-based design methodology for wire-driven manipulators

The aim of this article is to justify sketch-based design of wire-driven manipulators which use theoretical workspace as a criterion. In that way, we have stated the notion of theoretical workspace and some matrix algebra theorems that we have applied to the Jacobian matrix. Some examples illustrate our work. Use of sketches for the design of a punctual end-effector manipulator is easy. It is more difficult for the design of no-punctual end-effector manipulator.