Dynamic isotropic design for modified Gough-Stewart platforms lying on a pair of circular hyperboloids
Isotropic behavior of a robot, i.e., the same performance in all directions of movement, is associated with the geometrical symmetry in the manipulator design and must match the payload geometry. For a semi-regular Stewart platform manipulator one can only achieve a complete dynamic isotropy, if the local payload inertia satisfies two constraints. The first constraint requires that the moments of the payload inertia along the \(x\)- and the \(y\)-axis (\(1_{xx}\) and \(1_{yy}\)) are identical. The second constraint requires that the moment of the payload inertia along the \(z\)-axis \((1_{zz})\) is four times the moment \(1_{xx}\) (or \(1_{yy}\)), which greatly limits the application of the device. These results were published by the authors in an earlier paper [\textit{H.-Z. Jiang}, \textit{J.-F. He} and \textit{Z.-Z. Tong}, ibid. 45, No. 5, 722--739 (2010; Zbl 1359.70024)]. Here, the authors introduce a family of isotropic modified Gough-Stewart platforms (GSPs) that are not bound by the payload inertia constraint \(1_{zz}= 4\cdot 1_{xx}\), using a pair of circular hyperboloids for the design of a modified GSP, and show how the dynamic isotropy can be related to geometric parameters of the two hyperboloids. Some typical cases of dynamic isotropic modified GSPs are discussed, but it must still be verified that the same results can be obtained for a real manipulator, for which simplifying model assumptions are not realistic.
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- scientific article; zbMATH DE number 1517150 (Why is no real title available?)
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- Characteristics analysis of joint space inverse mass matrix for the optimal design of a 6-DOF parallel manipulator
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