Properties of orthogonal Stewart platforms

John E. McInroy

doi:10.1117/12.483460

5 August 2003 Properties of orthogonal Stewart platform

John E. McInroy

Proceedings Volume 5056, Smart Structures and Materials 2003: Smart Structures and Integrated Systems; (2003) https://doi.org/10.1117/12.483460
Event: Smart Structures and Materials, 2003, San Diego, California, United States

Abstract

When using a Gough-Stewart Platform (GSP) for a vibration isolation or precision motion task, the geometry of that GSP is often chosen on an ad hoc basis. This can result in a number of problems: singularities or poor conditioning; inability to produce desired motions or forces; high dynamic coupling between axes; poor fault tolerance. This paper will show that the class of orthogonal GSPs has a number of useful properties. Denoting the mapping from Cartesian payload velocities to strut velocities as a 6x6 matrix M, orthogonal GSPs are those where either the rows or columns of M are orthogonal. In other words, either MM^T or M^TM are diagonal matrices. This paper will derive the properties of orthogonal GSPs wherein MM^T is diagonal. In particular, it will first discuss the possible geometries that yield orthogonal GSPs. This will make it clear when these geometries are appropriate for a desired application. By re-arranging the rows and columns of M, a block diagonal form is found. Based on this block diagonal form, methods of designing Stewart platforms meeting desired position and force specifications are derived.

Citation Download Citation

John E. McInroy "Properties of orthogonal Stewart platform", Proc. SPIE 5056, Smart Structures and Materials 2003: Smart Structures and Integrated Systems, (5 August 2003); https://doi.org/10.1117/12.483460

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