Kinematic Optimisation of the Gantry-Tau Parallel Kinematic Manipulator with respect to its Workspace

Abstract

The Gantry-Tau is a recently developed parallel kinematic manipulator (PKM). Since the actuators are stationary it possesses the following characteristics: high speed, high acceleration, small moving mass and high static and dynamic accuracy. Since all link forces in the structure are axial, high stiffness can also be achieved. One of the main advantages of… (More)

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