Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 1994.10a
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- Pages.901-906
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- 1994
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- 2005-8446(pISSN)
Study on Manipulability of a Stewart Platform
스튜엇트 플랫폼의 조작성 연구
Abstract
In designing and evaluating manipulators, itis important to understand the capability of kinematic and static performances. Both workspace and manipulability can be considered as such performance measures. In general, the measure of manipulability is related to the kinematics for serial type manipulators. However.in case of parallel manipulators such as Stewart Platform, the manipulability can be interpreted as the static capability of transforming the input forces of actuators to the wrench of the end-effector. In this paper, the mathematical and physical meanings of manipulability suggested in some research works have been examined, and more meaningful measure of manipulability using the absolute minimum eigenvalues of J
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