Analysis of the Workspace of Tendon-based Stewart Platforms

Tendon-based Stewart platforms are a concept for innovative manipulators where the load to move almost coincides with the payload. After an overview over the state of research and some concepts of kinematics (singularity and redundancy), the thesis discusses aspects of the technically usable workspace (positive tendon forces, limits of tension, singularity, stiffness, collisions between tendens). A representation of the controllablwe workspace by means of polynomial inequalities is developed.

Optimal solutions are provided to the problem of finding appropriate force distributions in the tendons. These solutions can be discontinuous in time, but they can be approximated with continuous ones. An algorithm is given for this.

From these results, a quality measure for workspace is derived and used to state design rules which help achieving good workspaces. For some systems, sample trajectories are simulated.


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