Generating classes of locally orthogonal Gough-Stewart platforms

Yong Yi, John E. McInroy, Farhad Jafari

Research output: Contribution to journalArticlepeer-review

28 Scopus citations


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.

Original languageEnglish (US)
Pages (from-to)812-820
Number of pages9
JournalIEEE Transactions on Robotics
Issue number5
StatePublished - Oct 2005
Externally publishedYes

Bibliographical note

Funding Information:
Manuscript received July 19, 2004. 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 Grants DAAD19-02-1-0102 and DAAD19-00-1-0153. This paper was presented at the IEEE Conference on Robotics and Automation, New Orleans, LA, April 2004.


  • Gough-Stewart platforms (GSPs)
  • Isotropy
  • Kinematic design
  • Parallel manipulators


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