Comparison Analysis of Tendon-Driven Manipulators Based on Their Wrench Feasible Workspace

This paper focuses on planar manipulators built upon stacking a series of tensegrity X-joints. The are actuated with four tendons, have different numbers modules, or without offsets. objective this work is to study the influence offsets and number modules size wrench-feasible workspace (WFW). comparison analysis conducted basis equal manipulator height, width mass maximal actuation forces. spring constants pf X-joints determined so that configuration at rest features C-shape given end-effector pose minimal stiffness ensure stability. We show more larger WFW, little influence.