scholarly journals Revisiting Stewart–Gough platform applications: A kinematic pavilion

2021 ◽  
Vol 249 ◽  
pp. 113304
Author(s):  
Athanasios A. Markou ◽  
Serenay Elmas ◽  
Günther H. Filz
Keyword(s):  
Stewart Gough Platform

Kinematic-, Static- and Workspace Analysis of a 6-P-U-S Parallel Manipulator

2010 ◽  
Author(s):  
Madusudanan Sathia Narayanan ◽  
Sourish Chakravarty ◽  
Hrishi Shah ◽  
Venkat N. Krovi
Keyword(s):  
Structural Design ◽  
Parallel Manipulators ◽  
Type I ◽  
Kinematic Modeling ◽  
Workspace Analysis ◽  
Reaction Forces ◽  
Specific Configuration ◽  
Parallel Kinematic ◽  
Stewart Gough Platform

This paper examines the symbolic kinematic modeling of a general 6-P-U-S (prismatic-universal-spherical) parallel kinematic manipulator (PKM). The base location of actuators has been previously shown to lead to: (i) reduction of the (motor) weight carried by the legs; (ii) elimination of the actuation transmission requirement (through intermediary joints as in the case of the Stewart-Gough platform); and (iii) most-importantly absorption of reaction-forces by the ground. We focus on using the symbolic equations to derive the conditions for type I and II singularities of this class of parallel manipulators. Based on these conditions, this system of equations is specialized to a specific configuration of the platform that has superior structural design and comparatively minimal singularities within its workspace. A series of studies were conducted to investigate the quality of workspace as well as estimate the actuation requirements for a unit payload carried over their workspace using the symbolic Jacobian model for this specialized configuration.

Design of weighted PID controllers for control of the Stewart-Gough platform

2021 ◽  
Author(s):  
Justyna Kolasiewicz ◽  
Anna Perzylo ◽  
Robert Piotrowski
Keyword(s):  
Pid Controllers ◽  
Stewart Gough Platform

Gait Simulator Based on the Parallel Stewart-Gough Platform

2012 ◽  
pp. 99-108 ◽  
Author(s):  
Gonzalo Sevillano ◽  
Dante Elias ◽  
Rocio Callupe ◽  
Ricardo Marcacuzco ◽  
Benjamín Barriga
Keyword(s):  
Stewart Gough Platform
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