Dynamic Isotropy in 6-DOF Kinematically Constrained Platforms by Three Elastic Nodal Joints
(2016) In Precision Engineering 45. p.342-358- Abstract
- The principle of kinematic design has a wide range of applications e.g. from optical mirror mounts to parallel robots. Despite the importance of dynamic isotropy in the optimization of dynamic performance, a thorough analysis of dynamic isotropy in different kinematic arrangements has not yet been addressed in the literature. Dynamic isotropy, leading to equal eigenfrequencies, is a powerful optimization measure. In this paper, we present fully-parametric solutions for obtaining dynamic isotropy in general 3D platforms kinematically constrained by three elastic nodal joints in 6 DOFs. It is analytically shown that there exist two possible kinematic arrangements which are described by 3-2-1 and 2-2-2 kinematic node spaces. Both kinematic... (More)
- The principle of kinematic design has a wide range of applications e.g. from optical mirror mounts to parallel robots. Despite the importance of dynamic isotropy in the optimization of dynamic performance, a thorough analysis of dynamic isotropy in different kinematic arrangements has not yet been addressed in the literature. Dynamic isotropy, leading to equal eigenfrequencies, is a powerful optimization measure. In this paper, we present fully-parametric solutions for obtaining dynamic isotropy in general 3D platforms kinematically constrained by three elastic nodal joints in 6 DOFs. It is analytically shown that there exist two possible kinematic arrangements which are described by 3-2-1 and 2-2-2 kinematic node spaces. Both kinematic arrangements are studied with respect to their Jacobian formulation, Jacobian singularity and stiffness decoupling. It is proven that decoupling of stiffness matrices and accordingly dynamic isotropy for both kinematic arrangements are possible. Subsequently, conditions concerning geometry, stiffness and inertia in order to obtain dynamic isotropy are parametrically established. Finally, it is numerically demonstrated that the presented formulation is general enough even for being directly used, as a novel and efficient approach, in order to design dynamically isotropic 6-6 Gough–Stewart platforms (6-6 hexapods). (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/8564724
- author
- Afzali Far, Behrouz LU ; Andersson, Anette LU ; Nilsson, Kristina LU and Lidström, Per LU
- organization
- publishing date
- 2016
- type
- Contribution to journal
- publication status
- published
- subject
- in
- Precision Engineering
- volume
- 45
- pages
- 17 pages
- publisher
- Elsevier
- external identifiers
-
- scopus:84971667736
- wos:000376212000034
- ISSN
- 0141-6359
- DOI
- 10.1016/j.precisioneng.2016.03.011
- language
- English
- LU publication?
- yes
- id
- d3f6edd2-77b4-40b7-971f-a58ffc6db236 (old id 8564724)
- date added to LUP
- 2016-04-04 13:27:07
- date last changed
- 2022-03-16 01:39:15
@article{d3f6edd2-77b4-40b7-971f-a58ffc6db236,
abstract = {{The principle of kinematic design has a wide range of applications e.g. from optical mirror mounts to parallel robots. Despite the importance of dynamic isotropy in the optimization of dynamic performance, a thorough analysis of dynamic isotropy in different kinematic arrangements has not yet been addressed in the literature. Dynamic isotropy, leading to equal eigenfrequencies, is a powerful optimization measure. In this paper, we present fully-parametric solutions for obtaining dynamic isotropy in general 3D platforms kinematically constrained by three elastic nodal joints in 6 DOFs. It is analytically shown that there exist two possible kinematic arrangements which are described by 3-2-1 and 2-2-2 kinematic node spaces. Both kinematic arrangements are studied with respect to their Jacobian formulation, Jacobian singularity and stiffness decoupling. It is proven that decoupling of stiffness matrices and accordingly dynamic isotropy for both kinematic arrangements are possible. Subsequently, conditions concerning geometry, stiffness and inertia in order to obtain dynamic isotropy are parametrically established. Finally, it is numerically demonstrated that the presented formulation is general enough even for being directly used, as a novel and efficient approach, in order to design dynamically isotropic 6-6 Gough–Stewart platforms (6-6 hexapods).}},
author = {{Afzali Far, Behrouz and Andersson, Anette and Nilsson, Kristina and Lidström, Per}},
issn = {{0141-6359}},
language = {{eng}},
pages = {{342--358}},
publisher = {{Elsevier}},
series = {{Precision Engineering}},
title = {{Dynamic Isotropy in 6-DOF Kinematically Constrained Platforms by Three Elastic Nodal Joints}},
url = {{http://dx.doi.org/10.1016/j.precisioneng.2016.03.011}},
doi = {{10.1016/j.precisioneng.2016.03.011}},
volume = {{45}},
year = {{2016}},
}