Verhoeven, R.; Hiller, Manfred:

Estimating the controllable workspace of tendon based stewart platforms

In: Proceeding of the ARK´00:7th International Symposium on Advances in Robot Kinematics, 2000
University Duisburg-Essen, Faculty of Engineering, Chair of Mechatronics Lotharstraße 1, 47057 Duisburg, Germany (2000), S. 277-284
Buchaufsatz / Kapitel / Fach: Maschinenbau
The controllable workspace of a tendon-based Stewart Platform is the set of postures where forces ans torques at the end-effector can be controlled. A necassary and sufficent condition is given for those postures where forces can be controlled; thus, a superset of the controllable workspace can be calculated easily. External forces are modeled as an additional tendon fixed at infinity by introducing an unusual compactification of Rn that contains one infinitely distant point for each direction.