Verhoeven, R.; Hiller, Manfred; Tadokoro, S.:
Workspace, stiffness, singularities and classification of tendon driven stewart platforms
In: In proceedings of the 6th International Symposium on Advances in Robot Kinematics - ARK - Gerhard-Mercator-Universität - GH Duisburg, Fachgebiet Mechatronik Lotharstraße 1 47057 Duisburg, Germany, 1998, S. 105 - 114
Buchaufsatz/Kapitel in Sammelwerk / Fach: Maschinenbau
Titel:
Workspace, stiffness, singularities and classification of tendon driven stewart platforms
Autor(in):
Verhoeven, R.; Hiller, Manfred im Online-Personal- und -Vorlesungsverzeichnis LSF anzeigen; Tadokoro, S.
Erscheinungsjahr
1998
Erschienen in:
In proceedings of the 6th International Symposium on Advances in Robot Kinematics - ARK - Gerhard-Mercator-Universität - GH Duisburg, Fachgebiet Mechatronik Lotharstraße 1 47057 Duisburg, Germany, 1998, S. 105 - 114

Abstract:

A mathematical model for tendon-driven Stewart platfporm manipulators is developed. Conditions for the workspace are given, including tension limits, stiffness and singularities. It is proved that there are six chases of manipulators that exert the same wrenches all over the workspace. Simulation results of a 2-dof planar manipulator are presented.