Generating classes of Orthogonal Gough-Stewart Platforms

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 5, 2004, Pages 4969-4974

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

^a UNIVERSITY OF WYOMING   (United States)

Author keywords

Gough Stewart Platforms; Isotropy; Kinematic design; Parallel manipulators

Indexed keywords

GOUGH-STEWART PLATFORMS; ISOTROPY; KINEMATIC DESIGN; PARALLEL MANIPULATORS;

ALGORITHMS; GRAVITATION; KINEMATICS; LASER PULSES; MANIPULATORS; OPTIMIZATION; PARAMETER ESTIMATION;

ROBOTS;

EID: 3042588422     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (11)

1. R. Kurtz and V. Hayward, "Multiple-goal kinematic optimization of a parallel spherical mechanism with actuator redundancy," IEEE Transactions on Robotics and Automation, vol. 8, no. 5, pp. 644-651, 1992.
2. L. Stocco and S. E. Salcudean, "Fast constrained global minmax optimization of robot parameters," Robotica, vol. 16, pp. 595-605, 1998.
3. S. Bhattacgarya and A. Ghosh, "On the optimum design of stewart platform type parallel manipulators," Robotica, vol. 13, pp. 133-140, 1995.
4. T. Masuda and M. Fujiwara, "Mechanical configuration evaluation of a linear-actuated parallel mechanism using manipulability," in IEEE international conference on Robotics and Automation, Washington D.C., May 2002, pp. 489-495.
5. K. E. Zanganeh and J. Angeles, "Kinematic isotropy and the optimum design of parallel manipulators," The International Journal of Robotics Research, vol. 16, no. 2, pp. 185-197, 1997.
6. R. G. Roberts, "Minimal realization of a spatial stiffness matrix with simple springs connected in parallel," IEEE Trans. on Robotics and Automation, vol. 15, no. 5, pp. 953-957, 1999.
7. S. Huang and J. M. Schimmels, "The bounds and realization of spatial stiffnesses achieved with simple springs connected in parallel," IEEE Trans. on Robotics and Automation, vol. 14, no. 3, pp. 466-475, 1998.
8. S. Huang and J. M. Schimmels, "The eigenscrew decomposition of spatial stiffness matrices," IEEE Trans. on Robotics and Automation, vol. 16, no. 2, pp. 146-156, 2000.
9. F. Jafari and J. E. McInroy, "Orthogonal Gough-Stewart platforms for micromanipulation." IEEE Trans. on Robotics and Automation, vol. 19, no. 4, pp. 595-603, 2003.
10. K. H. Pittens and R.P. Podhorodeski, "A family of Stewart platforms with optimal dexterity," Journal of Robotic Systems, vol. 10, pp. 464-479, 1993.
11. R. S. Stoughton and T. Arai, "A modified Stewart platform manipulator with improved dexterity," IEEE Transactions on Robotics and Automation, vol. 9, no. 2, pp. 166-172, 1993.