Realization of micromanipulating Gough-Stewart platforms with desired dynamics

Abstract

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 defined. 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

DOI: 10.1109/ROBOT.2006.1641785

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Cite this paper

@article{Guo2006RealizationOM, title={Realization of micromanipulating Gough-Stewart platforms with desired dynamics}, author={Zhijiang Guo and John E. McInroy and Farhad Jafari}, journal={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.}, year={2006}, pages={655-660} }