Maximum dynamic payload carrying capacity of 6UPSStewart platform manipulator

In this paper, a computational method for obtaining maximum dynamic payload carrying capacity for the 6-UPS Stewart platform manipulator is developed. In this method, the manipulator is supposed is a rigid manipulator and thus the joint actuator torque capacity is considered as the major limiting factor in determining the maximum payload. For a given trajectory, the maximum dynamic payload carrying capacity of manipulator is established while dynamic model of a typical hydraulic actuator system is used in the joint actuator force capacity.

کلیدواژه ها:

Parallel manipulator ، Dynamic load-carrying capacity ، Stewart platform