Some geometric, kinematic, and dynamic considerations on Stewart-Gough platforms with singularity analysis

Sarıgül A. S., Guneri B.

ROBOTICA, cilt.32, sa.6, ss.953-966, 2014 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 32 Sayı: 6
  • Basım Tarihi: 2014
  • Doi Numarası: 10.1017/s0263574713001112
  • Dergi Adı: ROBOTICA
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED)
  • Sayfa Sayıları: ss.953-966
  • Anahtar Kelimeler: Parallel manipulator, Stewart-Gough platform, Hexapod, Actuator force, Workspace, Singularity
  • Dokuz Eylül Üniversitesi Adresli: Evet

Özet

In this study, some geometric, kinematic, and dynamic aspects of the design of a Stewart-Gough platform are examined. The focus of the analyses is on a particular Stewart-Gough platform that we have constructed. The analysis begins with workspace simulations for different moving platform orientations. The computations extend to a parametric study of some geometric and kinematic constraints: Joint angle, rotation angle, and limb length. Actuator force is another parameter considered; and the triple relationship between workspace, joint angle, and actuator force is discussed. Parametric analyses are culminated with a brief discussion of the real design parameters.