TY - JOUR
T1 - Generating classes of locally orthogonal Gough-Stewart platforms
AU - Yi, Yong
AU - McInroy, John E.
AU - Jafari, Farhad
PY - 2005/10/1
Y1 - 2005/10/1
N2 - This paper develops methods for generating classes of orthogonal Gough-Stewart platforms (OGSPs). First, a new, two-parameter class of six-strut OGSPs which leads to isotropic manipulators are found. Next, this class is extended to include redundant Gough-Stewart platforms (GSPs). For an even number of struts, the same algorithm used to generate the six-strut case can be employed. For an odd number of struts, similar essential concepts are used to derive seven-strut and nine-strut OGSPs. Maximization of fault tolerance is implemented for a nine-strut isotropic OGSP. By exploiting invariant properties of the inverse Jacobian, new methods for favorably altering the center of gravity, strut attachment surface, and strut spatial distribution are developed.
AB - This paper develops methods for generating classes of orthogonal Gough-Stewart platforms (OGSPs). First, a new, two-parameter class of six-strut OGSPs which leads to isotropic manipulators are found. Next, this class is extended to include redundant Gough-Stewart platforms (GSPs). For an even number of struts, the same algorithm used to generate the six-strut case can be employed. For an odd number of struts, similar essential concepts are used to derive seven-strut and nine-strut OGSPs. Maximization of fault tolerance is implemented for a nine-strut isotropic OGSP. By exploiting invariant properties of the inverse Jacobian, new methods for favorably altering the center of gravity, strut attachment surface, and strut spatial distribution are developed.
KW - Gough-Stewart platforms (GSPs)
KW - Isotropy
KW - Kinematic design
KW - Parallel manipulators
UR - http://www.scopus.com/inward/record.url?scp=27144487014&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=27144487014&partnerID=8YFLogxK
U2 - 10.1109/TRO.2005.851360
DO - 10.1109/TRO.2005.851360
M3 - Article
AN - SCOPUS:27144487014
VL - 21
SP - 812
EP - 820
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
SN - 1552-3098
IS - 5
ER -