TY - GEN
T1 - Realization of micromanipulating Gough-Stewart platforms with desired dynamics
AU - Zhijiang, Guo
AU - McInroy, John E.
AU - Jafari, Fahard
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
KW - Orthogonal gough-stewart platforms(OGSPs)
KW - Parallel manipulators
KW - Simultaneously diagonal OGSPs (sd-OGSPs)
UR - https://www.scopus.com/pages/publications/33845654493
UR - https://www.scopus.com/pages/publications/33845654493#tab=citedBy
U2 - 10.1109/ROBOT.2006.1641785
DO - 10.1109/ROBOT.2006.1641785
M3 - Conference contribution
AN - SCOPUS:33845654493
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 655
EP - 660
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -