Workspace, stiffness, singularities and classification of tendon driven stewart platforms
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.
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