A family of stewart platforms with optimal dexterity

DOI10.1002/rob.4620100405zbMath0776.70005OpenAlexW2161608402MaRDI QIDQ4202907

Kenneth H. Pittens, Ron P. Podhorodeski

Publication date: 28 September 1993

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.4620100405

zbMATH Keywords

Jacobian matrixplatform-centered Jacobian reference locationsingular value-based local dexterity measurestwo- parameter family of optimal configurations

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Related Items (12)

Semi-numerical solution to 6/6-Stewart-platform kinematics based on symmetry ⋮ An algebraic formulation of kinematic isotropy and design of isotropic 6-6 Stewart platform manipulators ⋮ Dynamic isotropic design for modified Gough-Stewart platforms lying on a pair of circular hyperboloids ⋮ Theory and methodology for kinematic design of Gough-Stewart platforms ⋮ A real-coded genetic optimal kinematic design of a Stewart fine tuning platform for a large radio telescope ⋮ Spatially isotropic configuration of Stewart platform-based force sensor ⋮ Dynamic isotropic design of a class of Gough-Stewart parallel manipulators lying on a circular hyperboloid of one sheet ⋮ Output error bound prediction of parallel manipulators based on the level set method ⋮ Characteristics analysis of joint space inverse mass matrix for the optimal design of a 6-DOF parallel manipulator ⋮ Performance evaluation of parallel manipulators: motion/force transmissibility and its index ⋮ Optimal design of a new spatial 3-DOF parallel robot with respect to a frame-free index ⋮ Optimal design of Stewart platforms based on expanding the control bandwidth while considering the hydraulic system design

Cites Work

• A Simplex Method for Function Minimization

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