The authors present solutions for the forward and inversekinematics of a 6-DOF Stewart Platform-based robot manipulator anddevelop a trajectory planning scheme for tracking the robot manipulatorstraight-line motion. A force/torque transformation is derived formeasuring forces/torques during a part assembly using two compliantplatforms which also provide passive compliance to the manipulatorgripper. Results of experiments conducted to evaluate the manipulatorperformance showed that the manipulator can track straight lines withnegligible tracking errors, and that forces/torques applied to themanipulator during the mating/demating of a space-rated connector can bemeasured with considerable accuracy
展开▼
