2009 | OriginalPaper | Buchkapitel
Extension of Antipodal Theorem to Workspace Analysis of Planar Wire-Actuated Manipulators
verfasst von : Derek McColl, Leila Notash
Erschienen in: Computational Kinematics
Verlag: Springer Berlin Heidelberg
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The wrench-closure workspace of planar wire-actuated parallel manipulators is investigated utilizing the antipodal method from multi-finger grasping and verified by the null space method from static analysis. The antipodal theorem is extended to analyzing planar manipulators with wires at distinct attachment points and external force/gravity as an additional wire. It is discussed that the null space method gives a more realistic workspace formulation as it takes into account wire tension limits. The antipodal method is superior for the workspaces analysis if large wire tensions are possible.