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A Class of Generalized Gough-Stewart Platforms Used for Effectively Obtaining Dynamic Isotropy - an Analytical Study

In English

Författare

Summary, in English

In this paper, we propose a class of Generalized Gough-Stewart Platforms (GGSPs) used, as a novel approach, to eliminate the classical isotropic constraint of GSPs (hexapods). GGSPs are based on the standard GSP architecture with additional rotations of the three strut-pairs. Despite the architectural generalization introduced in GGSPs, they do not require much more effort in order to be fabricated. This is due to the fact that all the struts (actuators) can be chosen identical, similar to standard GSPs. We analytically show how effectively the classical isotropic constraint is removed and that still sufficient simplicity is retained. Furthermore, this paper gives an intuitive understanding of dynamic isotropy in GGSPs as well as GSPs.

Avdelning/ar

Publiceringsår

2015

Språk

Engelska

Publikation/Tidskrift/Serie

MATEC Web of Conferences

Volym

35

Dokumenttyp

Konferensbidrag

Förlag

EDP Sciences

Ämne

  • Applied Mechanics

Status

Published