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Manipulators with distinct wire attachment points on the base and mobile platform are considered, in the absence and presence of external force. The examined workspaces are verified with the corresponding workspaces developed using static force analysis. By applying an external force, modeled as a wire for the antipodal method, the characteristics of the manipulator could be altered by enlarging its workspace in the direction of the applied force.<\/jats:p>","DOI":"10.1017\/s0263574710000469","type":"journal-article","created":{"date-parts":[[2010,8,19]],"date-time":"2010-08-19T09:32:27Z","timestamp":1282210347000},"page":"607-617","source":"Crossref","is-referenced-by-count":12,"title":["Workspace formulation of planar wire-actuated parallel manipulators"],"prefix":"10.1017","volume":"29","author":[{"given":"Derek","family":"McColl","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Leila","family":"Notash","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2010,8,19]]},"reference":[{"key":"S0263574710000469_ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2005.04.003"},{"key":"S0263574710000469_ref9","doi-asserted-by":"publisher","DOI":"10.1023\/A:1021158804664"},{"volume-title":"A Mathematical Introduction to Robotic Manipulation","year":"1994","author":"Murray","key":"S0263574710000469_ref6"},{"key":"S0263574710000469_ref22","first-page":"8","volume-title":"Proceedings of 5th IFToMM International Workshop on Computational Kinematics","author":"McColl","year":"2009"},{"key":"S0263574710000469_ref13","doi-asserted-by":"publisher","DOI":"10.1115\/1.2826968"},{"key":"S0263574710000469_ref17","doi-asserted-by":"publisher","DOI":"10.1080\/03052150512331328303"},{"volume-title":"Proceedings of the CCToMM M3 Symposium","year":"2009","author":"McColl","key":"S0263574710000469_ref16"},{"key":"S0263574710000469_ref10","doi-asserted-by":"crossref","first-page":"457","DOI":"10.1109\/TRO.2004.838029","article-title":"Cable suspended planar robots with redundant cables: Controllers with positive tensions","volume":"21","author":"Oh","year":"2005","journal-title":"IEEE Trans. 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