Influence of strut inertia on the vibrations in initially symmetric Gough-Stewart Platforms-an analytical study
(2015) In Journal of Sound and Vibration 352. p.142-157- Abstract
- Consideration of strut inertia can have significant influence on the modal behavior of a Gough-Stewart Platform (GSP). However, in the literature, the strut inertia has not yet been taken into account in its vibration study with a parametric approach. In this paper, we present a fully parametric approach to formulate the damped vibrations of GSPs taking into account the strut masses and moments of inertia for symmetric configurations. For the first time, a combined 6 x 6 equivalent inertia matrix (mass matrix), including both the inertia properties of the platform and the struts, is formulated parametrically. Subsequently, the eigenvectors and the damped eigenfrequencies are also parametrically developed in the Cartesian space.... (More)
- Consideration of strut inertia can have significant influence on the modal behavior of a Gough-Stewart Platform (GSP). However, in the literature, the strut inertia has not yet been taken into account in its vibration study with a parametric approach. In this paper, we present a fully parametric approach to formulate the damped vibrations of GSPs taking into account the strut masses and moments of inertia for symmetric configurations. For the first time, a combined 6 x 6 equivalent inertia matrix (mass matrix), including both the inertia properties of the platform and the struts, is formulated parametrically. Subsequently, the eigenvectors and the damped eigenfrequencies are also parametrically developed in the Cartesian space. Furthermore, the conditions for the decouplecl vibrations and the effect of strut inertia on these conditions are analytically investigated. With the aid of a reference GSP, the influence of the strut inertia on its modal behavior is systematically investigated. Accordingly, it is concluded that the parametric equations established in this paper can be directly employed in the analysis, optimization and control of GSPs in any application. (C) 2015 Elsevier Ltd. All rights reserved. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/7601982
- author
- Afzali Far, Behrouz LU ; Andersson, Anette LU ; Nilsson, Kristina LU and Lidström, Per LU
- organization
- publishing date
- 2015
- type
- Contribution to journal
- publication status
- published
- subject
- in
- Journal of Sound and Vibration
- volume
- 352
- pages
- 15 pages
- publisher
- Elsevier
- external identifiers
-
- wos:000356055100010
- scopus:84930818928
- ISSN
- 0022-460X
- DOI
- 10.1016/j.jsv.2015.03.054
- language
- English
- LU publication?
- yes
- id
- f8848bd6-a4ac-4edc-b83c-310c44b373a3 (old id 7601982)
- date added to LUP
- 2016-04-01 13:58:56
- date last changed
- 2022-03-14 03:00:23
@article{f8848bd6-a4ac-4edc-b83c-310c44b373a3,
abstract = {{Consideration of strut inertia can have significant influence on the modal behavior of a Gough-Stewart Platform (GSP). However, in the literature, the strut inertia has not yet been taken into account in its vibration study with a parametric approach. In this paper, we present a fully parametric approach to formulate the damped vibrations of GSPs taking into account the strut masses and moments of inertia for symmetric configurations. For the first time, a combined 6 x 6 equivalent inertia matrix (mass matrix), including both the inertia properties of the platform and the struts, is formulated parametrically. Subsequently, the eigenvectors and the damped eigenfrequencies are also parametrically developed in the Cartesian space. Furthermore, the conditions for the decouplecl vibrations and the effect of strut inertia on these conditions are analytically investigated. With the aid of a reference GSP, the influence of the strut inertia on its modal behavior is systematically investigated. Accordingly, it is concluded that the parametric equations established in this paper can be directly employed in the analysis, optimization and control of GSPs in any application. (C) 2015 Elsevier Ltd. All rights reserved.}},
author = {{Afzali Far, Behrouz and Andersson, Anette and Nilsson, Kristina and Lidström, Per}},
issn = {{0022-460X}},
language = {{eng}},
pages = {{142--157}},
publisher = {{Elsevier}},
series = {{Journal of Sound and Vibration}},
title = {{Influence of strut inertia on the vibrations in initially symmetric Gough-Stewart Platforms-an analytical study}},
url = {{http://dx.doi.org/10.1016/j.jsv.2015.03.054}},
doi = {{10.1016/j.jsv.2015.03.054}},
volume = {{352}},
year = {{2015}},
}