We investigate the kinematic feasibility of a tendon-based flexible parallel platform actuator. Much of the research on tendondriven\nStewart platforms is devoted either to the completely restrained positioning mechanism (CRPM) or to one particular type\nof the incompletely restrained positioning mechanism (IRPM) where the external force is provided by the gravitational pull on\nthe platform such as in cable-suspended Stewart platforms. An IRPM-based platform is proposed which uses the external force\nprovided by a compliant member. The compliant central column allows the configuration to achieve n DOFs with n tendons.\nIn particular, this investigation focuses on the angular deflection of the upper platform with respect to the lower platform. The\napplication here is aimed at developing a linkable module that can be connected to one another so as to form a ââ?¬Å?snake robotââ?¬Â of\nsorts. Since locomotion takes precedence over positioning in this application, a 3-DOF Stewart platformis adopted. For an arbitrary\nangular displace of the end-effector, the corresponding length of each tendon can be determined through inverse kinematics.\nMathematical singularities are investigated using the traditional analytical method of defining the Jacobian.
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