Using redundancy to optimize manipulability of Stewart platforms

Chinmay S. Ukidve, John E. McInroy, Farhad Jafari

Research output: Contribution to journalArticlepeer-review

29 Scopus citations


For any robotic system, fault tolerance is a desirable property. This paper uses a comparative approach to investigate fault tolerance and the associated problem of reduced manipulability of robots. It is shown that for a certain class of manipulators, the mean squared relative manipulability over all possible cases of a given number of actuator failures is always constant irrespective of the geometry of the manipulator. In this context, optimal fault tolerant manipulability is quantified. The theory is applied to a special class of parallel manipulators called orthogonal Gough--Stewart platforms (orthogonal GSPs or OGSPs). A class of symmetric OGSPs that inherently provide for optimal fault tolerant manipulability under a single failure is developed.

Original languageEnglish (US)
Pages (from-to)475-479
Number of pages5
JournalIEEE/ASME Transactions on Mechatronics
Issue number4
StatePublished - 2008
Externally publishedYes


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


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