Workspace, Stiffness, Singularities and Classification of Tendon-Driven Stewart Platforms

Verhoeven, Richard; Hiller, Manfred; Tadokoro, Satoshı

doi:10.1007/978-94-015-9064-8_11

Cited by 114 publications

(69 citation statements)

References 9 publications

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“…Verhoeven et al addressed almost the same concept named acceptably controllable workspace (ACW) in [42,48]. The ACW is defined as the set of postures where a force and torque equilibrium can be obtained with positive tensions with the constraint that all cable tensions must remain within range of cable tension value for a tendon-based Stewart platform.…”

Section: Wrench Feasible Workpacementioning

confidence: 99%

Workspace Classification and Quantification Calculations of Cable-Driven Parallel Robots

Duan

2014

Advances in Mechanical Engineering

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Large workspace is one of the promising advantages possessed by the cable-driven parallel robots (CDPR) over the conventional rigid-link robots. This paper focuses on the dynamic analysis and workspace classification based on the general motion equation of cable robot and the unilateral property of cables. The combinations of different types of two conditions lead to several different types of workspace, including static equilibrium workspace, wrench closure workspace, wrench feasible workspace, dynamic workspace, and collision-free workspace. A qualitative comparison of different types of workspaces is performed. The simulation results verify the relationship between the several types of workspaces.

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Section: Wrench Feasible Workpacementioning

confidence: 99%

Workspace Classification and Quantification Calculations of Cable-Driven Parallel Robots

Duan

2014

Advances in Mechanical Engineering

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“…It was assumed that: signals from sensors are disturbed by independent normal random process with zero mean value and constant variance; geometrical errors of the wire-legs are much less than main dimensions of the platform mechanism; linear error propagation theory can be used to solve the problem [9]. A relationship between increments of the wire lengths and changes of the platform position and orientation is written down using the first order kinematics [8,10]:…”

Section: D) Proper Conditioning Of the Measurementsmentioning

confidence: 99%

“…The wire-based sensor consists of a pulley with spiral spring and an encoder. The considered mechanism can be modeled as 6-DOF parallel manipulators, like Stewart platform [8,10], because the wires can be seen as extensible legs connecting the platforms by means of spherical (S) joints, Fig. 1.…”

Section: Introduction -Goal and Scopementioning

confidence: 99%

Verification of 6DOF Platform with Wire-Based Sensors for Spatial Tracking

Góra¹,

Maniowski²

2011

Archive of Mechanical Engineering

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The paper presents design and experimental verification of platform mechanism with cost-effective wire-based sensors for measuring of spatial displacement or pose of some moving object. This task, also known as spatial tracking, has a very wide application. The proposed mechanism, guided by the moving object, has a parallel structure with two platforms and at least six wire-based sensors for measuring distances between the platform points. Changes of the platform pose cause corresponding changes of the sensors' wire lengths.Forward position problem of an equivalent mechanism model with 6 degrees of freedom is described together with analyses of work space limitations and error propagation in a measurement system. A specific application is illustrated for tracking of a wheel knuckle of 5-link suspension mechanism used in passenger cars. The developed device has the following advantages: it can be installed in a wheel cavity; enables dynamic measurements on the road; is cost-effective. Performance of the latest prototype of the wire-based tracker was verified on the basis of measurements on a test rig, where two other measuring devices were used for comparison purposes.

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“…A cable driven parallel manipulator, according to its number of cables (m) and degrees of freedom (DOFs) of end-effector (n), can be classified as follows (Verhoeven et al, 1998;Hiller & Fang, 2005) fixed end of the cable; E the elastic modulus; A 0 the unstrained cross-sectional area. Using the variables and coordinate system above, we will briefly reproduce Irvine's derivation in this paper (Irivne, 1981).…”

Section: Classification Of a Cable Driven Parallel Manipulatormentioning

confidence: 99%

Dimensional Optimization of Completely Restrained Positioning Cable Driven Parallel Manipulator with Large Span

Tang¹,

Yao²

2010

Robot Manipulators New Achievements

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Workspace, Stiffness, Singularities and Classification of Tendon-Driven Stewart Platforms

Cited by 114 publications

References 9 publications

Workspace Classification and Quantification Calculations of Cable-Driven Parallel Robots

Workspace Classification and Quantification Calculations of Cable-Driven Parallel Robots

Verification of 6DOF Platform with Wire-Based Sensors for Spatial Tracking

Dimensional Optimization of Completely Restrained Positioning Cable Driven Parallel Manipulator with Large Span

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