scholarly journals Exploiting Higher Kinematic Performance - Using a 4-Legged Redundant PM Rather than Gough-Stewart Platforms

10.5772/32141 ◽  
2012 ◽  
Author(s):  
Mohammad H. ◽  
Yong-Jin Yoon ◽  
Hassan Zohoor
Keyword(s):  
Kinematic Performance ◽  
Stewart Platforms

Finding symmetric orthogonal Gough-Stewart platforms

2006 ◽  
Vol 22 (5) ◽  
pp. 880-889 ◽  
Author(s):  
J.E. McInroy ◽  
F. Jafari
Keyword(s):  
Stewart Platforms

Dynamics Decomposition for Stewart Platforms

1994 ◽  
Vol 116 (1) ◽  
pp. 67-69 ◽  
Author(s):  
Zhiming Ji
Keyword(s):  
Dynamic Analysis ◽  
Driving Forces ◽  
Stewart Platform ◽  
Inertia Effect ◽  
Moving Plate ◽  
Stewart Platforms

This paper shows that special features of the Stewart platform can lead to the decomposition of the moving plate and the legs in the dynamic analysis. Formulas for evaluating, separately, the driving forces needed for the movement of the legs are developed for studying the combined inertia effect of all the leg rotations in a Stewart platform. The proposed formulation is easy to implement for Stewart platforms with nonnegligible leg inertia.

Domains of Interference Between Working Bodies in Mechanisms and Manipulators

1995 ◽  
Author(s):  
Edward J. Haug ◽  
Frederick A. Adkins ◽  
Chi-Mei Luh ◽  
Jia-Yi Wang
Keyword(s):  
Numerical Methods ◽  
Jacobian Matrix ◽  
Underlying Mechanism ◽  
Rank Deficiency ◽  
Ground Vehicle ◽  
Complementary Problems ◽  
Stewart Platforms ◽  
Working Bodies ◽  
Set Of Points

Abstract Criteria for the set of all points in a pair of working bodies in a mechanism or manipulator that can coincide for any kinematically admissible configuration of the underlying mechanism, called the domain of interference between the bodies, are formulated. Kinematic equations for the mechanism and parameterizations of the domains of the working bodies are used to derive analytical criteria for domains of interference. Three complementary problems are formulated and analyzed to characterize (1) the set of points in one of the interfering bodies that are occupied by any point in the second body, (2) the set of points in one of the interfering bodies that are occupied by any point on the boundary of the second body, and (3) the set of all points in space that are simultaneously occupied by points in the interfering bodies; each condition occurring for any kinematically admissible configuration of the mechanism. Analytical criteria for the boundaries of domains of interference for each of the three problems arc derived, based on row-rank deficiency of a sub-Jacobian matrix associated with the kinematic equations for each of the problems. Numerical methods for mapping boundaries of domains of interference are presented and illustrated for planar Stewart platforms with domes attached that are characteristic of flight or ground vehicle simulators.

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