Generating classes of locally orthogonal Gough-Stewart platforms

IEEE Transactions on Robotics

Volumn 21, Issue 5, 2005, Pages 812-820

  Yi, Yong ^a   McInroy, John E ^a   Jafari, Farhad ^a  

^a UNIVERSITY OF WYOMING   (United States)

Author keywords

Gough Stewart platforms (GSPs); Isotropy; Kinematic design; Parallel manipulators

Indexed keywords

ALGORITHMS; DEGREES OF FREEDOM (MECHANICS); DESIGN; KINEMATICS; MATRIX ALGEBRA; MOTION CONTROL; OPTIMIZATION; THEOREM PROVING;

GOUGH-STEWART PLATFORMS (GSPS); KINEMATIC DESIGN; PARALLEL MANIPULATORS;

MANIPULATORS;

EID: 27144487014     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2005.851360     Document Type: Article

References (17)

1. R. S. Stoughton and T. Arai, "A modified Stewart platform manipulator with improved dexterity," IEEE Trans. Robot. Autom., vol. 9, no. 2, pp. 166-172, Apr. 1993.
2. L. Stocco and S. E. Salcudean, "Fast constrained global minmax optimization of robot parameters," Robotica, vol. 16, pp. 595-605, 1998.
3. K. H. Pittens and R. Podhorodeski, "A family of Stewart platforms with optimal dexterity," J. Robot. Syst., vol. 10, pp. 464-479, 1993.
4. K. E. Zanganeh and J. Angeles, "Kinematic isotropy and the optimum design of parallel manipulators," Int. J. Robot. Res., vol. 16, no. 2, pp. 185-197, 1997.
5. V. E. Gough and S. G. Whitehall, "Universal tyre test machine," in Proc. 9th Int. Tech. Congr., May 1962, p. 117.
6. D. Stewart, "A platform with six degrees of freedom," in Proc. Inst. Mech. Eng., vol. 180, 1965-66, pp. 371-386.
7. R. G. Roberts, "Minimal realization of a spatial stiffness matrix with simple springs connected in parallel," IEEE Trans. Robot. Autom., vol. 15, no. 5, pp. 953-957, Oct. 1999.
8. S. Huang and J. M. Schimmels, "The bounds and realization of spatial stiffnesses achieved with simple springs connected in parallel," IEEE Trans. Robot. Autom., vol. 14, no. 3, pp. 466-475, Jun. 1998.
9. F. Jafari and J. E. McInroy, "Orthogonal Gough-Stewart platforms for micromanipulation," IEEE Trans. Robot. Autom., vol. 19, no. 4, pp. 595-603, Aug. 2003.
10. J. E. McInroy and J. C. Hamann, "Design and control of flexure jointed hexapods," IEEE Trans. Robot. Autom., vol. 16, no. 4, pp. 372-381, Aug. 2000.
11. H. Lipkin and J. Duffy, "Hybrid twist and wrench control for a robotic manipulator," J. Mechan., Transm., Autom. Des., vol. 110, no. 6, pp. 138-144, Jun. 1988.
12. K. L. Doty, C. Melchiorri, E. M. Schwartz, and C. Bonnivento, "Robot manipulability," IEEE Trans. Robot. Autom., vol. 11, no. 3, pp. 462-468, Jun. 1995.
13. L. J. Stocco, S. E. Salcudean, and F. Sassani, "On the use of scaling matrices for task-specific robot design," IEEE Trans. Robot. Autom., vol. 15, no. 5, pp. 958-965, Oct. 1999.
14. R. G. Roberts and A. A. Maciejewski, "A local measure of fault tolerance for kinematically redundant manipulators," IEEE Trans. Robot. Autom., vol. 12, no. 4, pp. 543-553, Aug. 1996.
15. Y. Yi, J. E. McInroy, and Y. Chen, "General over-constrained rigid multibody systems: Differential kinematics, and fault tolerance," in Proc. SPIE Int. Symp. Smart Structures, Mater., vol. 4701, San Diego, CA, Mar. 2002, pp. 189-199.
16. Y. Yi, J. E. McInroy, and F. Jafari, "Optimum design of a class of fault-tolerant isotropic Gough-Stewart platforms," in Proc. IEEE Int. Conf. Robot. Autom., vol. 5, New Orleans, LA, Apr. 2004, pp. 4963-4968.
17. Y. Yi, J. E. McInroy, and F. Jafari, "Generating classes of orthogonal Gough-Stewart platforms," in Proc. IEEE Int. Conf. Robot. Autom., vol. 5, New Orleans, LA, Apr. 2004, pp. 4969-4974.