Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 1996.04a
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- Pages.771-777
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- 1996
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- 2005-8446(pISSN)
Kinematic Optimal Design of a Stewart Platform based on Dexterity
조작성에 근거한 스튜엇트 플렛폼의 기구학적 최적설계
Abstract
In this paper, an optimal design technique for a Stewart platform has been presented considering workspace and dexterity. In the definition of a design objective function, previously suggested dexterity index was used to be maximized. In this optimal design process, the workspace can be used as design constraint when necessary. An algorithm for workspace computation has been briefly described. Finally, optimal desigm results for some example cases have been presented.
Keywords