Orthogonal Gough-Stewart platforms for micromanipulation

Farhad Jafari, John E. McInroy

Research output: Contribution to journalArticlepeer-review

23 Scopus citations


Development of methods to design optimal Gough-Stewart platforms geometries capable of meeting desired specifications is of high interest. Computationally intensive methods have been used to treat this problem in various settings. This paper uses analytic methods to characterize all orthogonal Gough-Stewart platforms (OGSPs) and to study their properties over a small workspace. This characterization is used to design optimal OGSPs for precision applications that achieve a desired hyperellipsoid of velocities. Some examples demonstrating the versatility of this theory are discussed.

Original languageEnglish (US)
Pages (from-to)595-603
Number of pages9
JournalIEEE Transactions on Robotics and Automation
Issue number4
StatePublished - Aug 2003
Externally publishedYes

Bibliographical note

Funding Information:
Manuscript received November 21, 2002; revised March 12, 2003. This paper was recommended for publication by Associate Editor J. Merlet and Editor I. Walker upon evaluation of the reviewers’ comments. This work was supported by the Missile Defense Agency and Army Research Office under Grant DAAD19-00-1-0153 and Grant DAAD19-02-1-0102.


  • Isotropic
  • Orthogonal Gough-Stewart platforms (OGSPs)
  • Parallel manipulators
  • Precision application
  • Stiffness matrices


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