Optimum design of a class of fault tolerant isotropic Gough-Stewart platforms

@article{Yi2004OptimumDO,
  title={Optimum design of a class of fault tolerant isotropic Gough-Stewart platforms},
  author={Yong Yi and John E. McInroy and Farhad Jafari},
  journal={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004},
  year={2004},
  volume={5},
  pages={4963-4968 Vol.5}
}
Optimal geometric design is of key importance to the performance of a manipulator. First, this paper extends the work in Y. Yi, et al., (2004) to generate a class of isotropic Gough-Stewart platforms (GSPs) with an odd number of struts. Then, it develops methods for finding a highly fault tolerant GSP from that class. Two optimization criteria are considered, isotropy and fault tolerance. To meet the mission critical needs imposed by laser weapons applications, nine-strut isotropic GSPs that… CONTINUE READING
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Optimal , fault tolerant velocity and static force mapping for prioritized manipulation

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