An algebraic formulation of kinematic isotropy and design of isotropic 6-6 Stewart platform manipulators (Q2426757)

A general procedure to study isotropic parallel manipulators is proposed. This procedure is based on Jacobian matrices corresponding to the linear and angular velocities of the manipulator. The authors used the concept of ``combined isotropy'' for obtaining two families of isotropic configuration of the 6-6 Stewart platforms. The combined isotropy study and sensitivity analysis due to configuration parameters are applied in the case of the semi-regular Stewart platform manipulator.