Tri-Symmetric Orthogonal Gough-Stewart Platforms

This paper develops new, analytical methods to find a large class of Orthogonal Gough-Stewart Platforms (OGSPs) having desired manipulabilities at a single point. In contrast, prior methods have been computationally intensive, relying on numerical search techniques. The new techniques are directly applicable to clean sheet design of micro-manipulators, vibration isolators, and Cartesian stiffness matrices. In addition, straightforward methods for retro-fitting existing OGSPs are illustrated. The approach relies on symmetrically repeating a strut at least three times.