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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) In 2015 4th International Conference on Mechanics and Control Engineering (ICMCE 2015) 35.
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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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
2015 4th International Conference on Mechanics and Control Engineering (ICMCE 2015)
volume
35
publisher
EDP Sciences
external identifiers
  • scopus:84976617434
DOI
10.1051/matecconf/20153502002
language
English
LU publication?
yes
id
2f93345b-fd46-44f0-95c8-fb64af51e479 (old id 8564697)
date added to LUP
2016-01-26 14:36:08
date last changed
2017-02-19 04:43:49
@inproceedings{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},
  booktitle    = {2015 4th International Conference on Mechanics and Control Engineering (ICMCE 2015)},
  language     = {eng},
  publisher    = {EDP Sciences},
  title        = {A Class of Generalized Gough-Stewart Platforms Used for Effectively Obtaining Dynamic Isotropy - an Analytical Study},
  url          = {http://dx.doi.org/10.1051/matecconf/20153502002 },
  volume       = {35},
  year         = {2015},
}