Kinematic Optimal Design of a Stewart Platform based on Dexterity

조작성에 근거한 스튜엇트 플렛폼의 기구학적 최적설계

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.