Tri-symmetric orthogonal Gough-Stewart platforms

John McInroy, Farhad Jafari, John O'Brien

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

Abstract

This paper develops new, analytical methods to find a large class of Orthogonal Gough-Stewart Platforms (OGSPs) having desired manipulabilities at a single point. In contrast, prior methods have been computationally intensive, relying on numerical search techniques. The new techniques are directly applicable to clean sheet design of micro-manipulators, vibration isolators, and Cartesian stiffness matrices. In addition, straightforward methods for retrofitting existing OGSPs are illustrated. The approach relies on symmetrically repeating a strut at least three times.

Original languageEnglish (US)
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages936-941
Number of pages6
DOIs
StatePublished - Dec 1 2005
Externally publishedYes
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: Apr 18 2005Apr 22 2005

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period4/18/054/22/05

Keywords

  • Gough-Stewart Platforms
  • Micro-manipulation
  • Orthogonal Gough-Stewart platforms
  • Parallel manipulators
  • Precision motion control
  • Stiffness matrices

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