Finding symmetric orthogonal Gough-Stewart platforms

John E. McInroy, Farhad Jafari

Research output: Contribution to journalArticlepeer-review

23 Scopus citations


This paper develops new, analytical methods to find a large class of orthogonal Gough - Stewart platforms (OGSPs) having desired properties at their home position. In contrast, prior methods have been computationally intensive, relying on numerical search techniques. By exploiting symmetry, 27 equations are reduced to only two. The new techniques are directly applicable to clean-sheet design of micro-manipulators, vibration isolators, and Cartesian stiffness matrices. In addition, straightforward methods for retro-fitting existing OGSPs are illustrated. Because the new theory greatly simplifies OGSP formulas about a single point, it is expected that these results will also prove to be very useful when numerically designing gross motion platforms.

Original languageEnglish (US)
Pages (from-to)880-889
Number of pages10
JournalIEEE Transactions on Robotics
Issue number5
StatePublished - Oct 2006
Externally publishedYes

Bibliographical note

Funding Information:
Manuscript received September 1, 2004; revised January 28, 2005. This paper was recommended for publication by Associate Editor R. Roberts and Editor F. Park upon evaluation of the reviewers’ comments. This work was supported by the Missile Defense Agency and Army Research Office under Grant DAAD19-02-1-0102. This paper was presented in part at the IEEE International Conference on Robotics and Automation, Barcelona, Spain, May 2005.


  • Gough-Stewart platforms (GSPs)
  • Micro-manipulation
  • Orthogonal Gough-Stewart platforms (OGSPs)
  • Parallel manipulators
  • Precision motion control
  • Stiffness matrices


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