Realization of micromanipulating Gough-Stewart platforms with desired dynamics

Guo Zhijiang, John E. McInroy, Fahard Jafari

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

A new design method for optimizing Gough-Stewart platform geometries is proposed in this paper. The prior studies are extended through optimizing both the kinematics and dynamics. Firstly, a new class of weighted orthogonal Gough-Stewart platforms(w-OGSPs) is proposed. Then the concept of simultaneously diagonal OGSPs (sd-OGSPs) is denned. The sd-OGSPs allow the Cartesian second order impedance to be specified, thus obtaining desired local system poles. Design algorithms and simulation results are given.

Original languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages655-660
Number of pages6
DOIs
StatePublished - Dec 27 2006
Externally publishedYes
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/TerritoryUnited States
CityOrlando, FL
Period5/15/065/19/06

Keywords

  • Orthogonal gough-stewart platforms(OGSPs)
  • Parallel manipulators
  • Simultaneously diagonal OGSPs (sd-OGSPs)

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