Abstract
A mathematical model for tendon-driven Stewart platform manipulators is developed. Conditions for the workspace are given, including tension limits, stiffness and singularities. It is proved that there are six classes 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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© 1998 Springer Science+Business Media Dordrecht
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Verhoeven, R., Hiller, M., Tadokoro, S. (1998). Workspace, Stiffness, Singularities and Classification of Tendon-Driven Stewart Platforms. In: Lenarčič, J., Husty, M.L. (eds) Advances in Robot Kinematics: Analysis and Control. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-9064-8_11
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DOI: https://doi.org/10.1007/978-94-015-9064-8_11
Publisher Name: Springer, Dordrecht
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