Realization of micromanipulating Gough-Stewart platforms with desired dynamics

Author

Guo, Zhijiang ; McInroy, John E. ; Jafari, Fahard

Author_Institution

Dept. of Electr. & Comput. Eng., Wyoming Univ., Laramie, WY

fYear

2006

fDate

15-19 May 2006

Firstpage

655

Lastpage

660

Abstract

A new design method for optimizing Gough-Stewart platform geometries is proposed in this paper. The prior studies are extended through optimizing both the kinematics and dynamics. Firstly, a new class of weighted orthogonal Gough-Stewart platforms (w-OGSPs) is proposed. Then the concept of simultaneously diagonal OGSPs (sd-OGSPs) is defined. The sd-OGSPs allow the Cartesian second order impedance to be specified, thus obtaining desired local system poles. Design algorithms and simulation results are given

Keywords

manipulator dynamics; manipulator kinematics; micromanipulators; motion control; poles and zeros; vibration isolation; Cartesian second order impedance; dynamics; kinematics; local system poles; micromanipulating Gough-Stewart platforms; motion control; vibration isolation; Algorithm design and analysis; Computational geometry; Design methodology; Jacobian matrices; Manipulators; Motion control; Nonlinear dynamical systems; Space technology; Transmission line matrix methods; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1641785

Filename

1641785