Abstract
This paper discusses the kinematical analysis of parallel mechanisms using the multi-wire driven method. This method allows for the use of two or more wires attached to one actuator. One type of this method can produce passive constraints, whereas another type can produce active constraints in an area where a wire does not exist. The definition and the features of this method are then described. Then an analytical technique to obtain the number of degrees of freedom and possible directions of motion is proposed. Its validity is verified using an example.
