Some geometric, kinematic, and dynamic considerations on Stewart-Gough platforms with singularity analysis

In this study, some geometric, kinematic, and dynamic aspects of the design of a Stewart-Gough platform are examined. The focus of the analyses is on a particular Stewart-Gough platform that we have constructed. The analysis begins with workspace simulations for different moving platform orientation...

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Bibliographic Details
Published in:Robotica 2014-09, Vol.32 (6), p.953-966
Main Authors: Sariguel, ASaide, Gueneri, Burcu
Format: Article
Language:English
Subjects:
Actuators
Angles (geometry)
Design engineering
Design parameters
Dynamic tests
Dynamics
Kinematics
Platforms
Singularities
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Summary:In this study, some geometric, kinematic, and dynamic aspects of the design of a Stewart-Gough platform are examined. The focus of the analyses is on a particular Stewart-Gough platform that we have constructed. The analysis begins with workspace simulations for different moving platform orientations. The computations extend to a parametric study of some geometric and kinematic constraints: Joint angle, rotation angle, and limb length. Actuator force is another parameter considered; and the triple relationship between workspace, joint angle, and actuator force is discussed. Parametric analyses are culminated with a brief discussion of the real design parameters.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574713001112