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 / Fach: Maschinenbau
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.