Anthony A. Allais

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New methods are found for arranging force actuators around a rigid body so that the system has locally decoupled and optimal manipulation characteristics. The closed-form solution leads directly to simple analytic formulas for the singular values of the manipulator Jacobian in terms of geometric design parameters. This makes it possible to easily design the(More)
A new, seven parameter class of micromanipulators is found with decoupled dynamics. The flexibility of the new class is demonstrated by designing a Stewart platform with fully equalized and decoupled dynamics (i.e., all resonant frequencies are equal). Although this has been attempted before by other researchers, it has not been previously accomplished. The(More)
This paper analytically finds a new, significantly more general class of locally decoupled 2p - UPS, parallel manipulators encompassing and expanding several earlier classes. Its closed form solution leads directly to simple analytic formulas for the system eigenvalues in terms of geometric design parameters. To illustrate the power of the theory, the new(More)
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