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

Afzali Far, Behrouz LU and Lidström, Per LU (2015)
Abstract
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.
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2f93345b-fd46-44f0-95c8-fb64af51e479 (old id 8564697)
date added to LUP
2016-01-26 14:36:08
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@misc{2f93345b-fd46-44f0-95c8-fb64af51e479,
  abstract     = {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.},
  author       = {Afzali Far, Behrouz and Lidström, Per},
  language     = {eng},
  title        = {A Class of Generalized Gough-Stewart Platforms Used for Effectively Obtaining Dynamic Isotropy - an Analytical Study},
  year         = {2015},
}