Tri-symmetric orthogonal Gough-Stewart platforms

John McInroy; Farhad Jafari; John O'Brien

doi:10.1109/ROBOT.2005.1570237

Tri-symmetric orthogonal Gough-Stewart platforms

John McInroy, Farhad Jafari, John O'Brien

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper develops new, analytical methods to find a large class of Orthogonal Gough-Stewart Platforms (OGSPs) having desired manipulabilities at a single point. In contrast, prior methods have been computationally intensive, relying on numerical search techniques. The new techniques are directly applicable to clean sheet design of micro-manipulators, vibration isolators, and Cartesian stiffness matrices. In addition, straightforward methods for retrofitting existing OGSPs are illustrated. The approach relies on symmetrically repeating a strut at least three times.

Original language	English (US)
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	936-941
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570237
State	Published - Dec 1 2005
Externally published	Yes
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: Apr 18 2005 → Apr 22 2005

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Other

Other	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	4/18/05 → 4/22/05

Keywords

Gough-Stewart Platforms
Micro-manipulation
Orthogonal Gough-Stewart platforms
Parallel manipulators
Precision motion control
Stiffness matrices

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10.1109/ROBOT.2005.1570237

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Tri-symmetric orthogonal Gough-Stewart platforms. / McInroy, John; Jafari, Farhad; O'Brien, John.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 936-941 1570237 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

McInroy, J, Jafari, F & O'Brien, J 2005, Tri-symmetric orthogonal Gough-Stewart platforms. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570237, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 936-941, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 4/18/05. https://doi.org/10.1109/ROBOT.2005.1570237

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abstract = "This paper develops new, analytical methods to find a large class of Orthogonal Gough-Stewart Platforms (OGSPs) having desired manipulabilities at a single point. In contrast, prior methods have been computationally intensive, relying on numerical search techniques. The new techniques are directly applicable to clean sheet design of micro-manipulators, vibration isolators, and Cartesian stiffness matrices. In addition, straightforward methods for retrofitting existing OGSPs are illustrated. The approach relies on symmetrically repeating a strut at least three times.",

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KW - Precision motion control

KW - Stiffness matrices

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Tri-symmetric orthogonal Gough-Stewart platforms

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Keywords

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