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Some geometric, kinematic, and dynamic considerations on Stewart-Gough platforms with singularity analysis

Published online by Cambridge University Press:  13 December 2013

A. Saide Sarıgül and
Burcu Güneri
A. Saide Sarıgül*
Affiliation:
Department of Mechanical Engineering, Faculty of Engineering, Dokuz Eylül University, İzmir, Turkey
Burcu Güneri
Affiliation:
İzmir Refinery, Turkish Petroleum Refineries Co., İzmir, Turkey
*
*Corresponding author. E-mail: saide.sarigul@deu.edu.tr
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Summary

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In this study, some geometric, kinematic, and dynamic aspects of the design of a Stewart-Gough platform are examined. The focus of the analyses is on a particular Stewart-Gough platform that we have constructed. The analysis begins with workspace simulations for different moving platform orientations. The computations extend to a parametric study of some geometric and kinematic constraints: Joint angle, rotation angle, and limb length. Actuator force is another parameter considered; and the triple relationship between workspace, joint angle, and actuator force is discussed. Parametric analyses are culminated with a brief discussion of the real design parameters.

Keywords

Parallel manipulatorStewart-Gough platformHexapodActuator forceWorkspaceSingularity

Information

Type
Articles
Information
Robotica , Volume 32 , Issue 6 , September 2014, pp. 953 - 966
Copyright
Copyright © Cambridge University Press 2013 

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