Generating classes of locally orthogonal Gough-Stewart platforms

This paper develops methods for generating classes of orthogonal Gough-Stewart platforms (OGSPs). First, a new, two-parameter class of six-strut OGSPs which leads to isotropic manipulators are found. Next, this class is extended to include redundant Gough-Stewart platforms (GSPs). For an even number of struts, the same algorithm used to generate the six-strut case can be employed. For an odd number of struts, similar essential concepts are used to derive seven-strut and nine-strut OGSPs. Maximization of fault tolerance is implemented for a nine-strut isotropic OGSP. By exploiting invariant properties of the inverse Jacobian, new methods for favorably altering the center of gravity, strut attachment surface, and strut spatial distribution are developed.

[1]  Anthony A. Maciejewski,et al.  A local measure of fault tolerance for kinematically redundant manipulators , 1996, IEEE Trans. Robotics Autom..

[2]  Rodney G. Roberts.  Minimal realization of a spatial stiffness matrix with simple springs connected in parallel , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[3]  Shuguang Huang,et al.  The bounds and realization of spatial stiffnesses achieved with simple springs connected in parallel , 1998, IEEE Trans. Robotics Autom..

[4]  Septimiu E. Salcudean,et al.  On the use of scaling matrices for task-specific robot design , 1999, IEEE Trans. Robotics Autom..

[5]  C. Melchiorri,et al.  Robot manipulability , 1995, IEEE Trans. Robotics Autom..

[6]  John E. McInroy,et al.  Optimum design of a class of fault tolerant isotropic Gough-Stewart platforms , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[7]  D. Stewart,et al.  A Platform with Six Degrees of Freedom , 1965 .

[8]  Tatsuo Arai,et al.  A modified Stewart platform manipulator with improved dexterity , 1993, IEEE Trans. Robotics Autom..

[9]  John E. McInroy,et al.  Orthogonal Gough-Stewart platforms for micromanipulation , 2003, IEEE Trans. Robotics Autom..

[10]  John E. McInroy,et al.  Generating classes of orthogonal Gough-Stewart platforms , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[11]  John E. McInroy,et al.  Design and control of flexure jointed hexapods , 2000, IEEE Trans. Robotics Autom..

[12]  Jorge Angeles,et al.  Kinematic Isotropy and the Optimum Design of Parallel Manipulators , 1997, Int. J. Robotics Res..

[13]  Septimiu E. Salcudean,et al.  Fast constrained global minimax optimization of robot parameters , 1998, Robotica.

[14]  Yixin Chen,et al.  Over-constrained rigid multibody systems: differential kinematics and fault tolerance , 2002, SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring.

[15]  Joseph Duffy,et al.  Hybrid Twist and Wrench Control for a Robotic Manipulator , 1988 .

[16]  Ron P. Podhorodeski,et al.  A family of stewart platforms with optimal dexterity , 1993, J. Field Robotics.