Verhoeven, Richard; Hiller, Manfred:

Tension distribution in tendon-based stewart platforms

In: Proceedings of 8th International Symposium on Advances in Robot Kinematics (ARK)
University Duisburg-Essen, Faculty of Engineering, Chair of Mechatronics Lotharstraße 1, 47057 Duisburg, Germany (2002)
Buchaufsatz / Kapitel / Fach: Maschinenbau
When controlling the motion of tendon-based Stewart plattforms, it is necessary to maintrain the tendon forces inside an acceptable range, between a minimum and a maximum. This leads to a polyhedral set in the force space, where optimal solutions may fail to be continous along a trajectory, but they can be approximateed by almost optimal solutions which are continous except in singular postures.