Chapter . Simulation and Optimisation of a Tendon-Based Stewart Platform

Manfred Kraft[a], Erdmann Schaper[b]

Abstract

This paper deals with a special type of Stewart Platform. The usual rigid legs are replaced by tendons. By this means, larger scalability and a lighter-weight kinematic structure is made possible. The following disadvantages face this advantages: tendons can transfer only pulling forces and in general a redundant kinematic structure is required. In this paper a dedicated kinematic model is presented, as well as a tool for computing the controllable workspace. Various approaches are described, which yield a better relation of workspace to package space.

Introduction

More than 100 possible architectures have been proposed for parallel ...

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