Performance analysis of Gough Stewart platform with 6 limbs

• Autorzy: Chandrashekhar A. , Satish Babu G.
• Języki publikacji: EN

Abstrakty

EN

This paper concentrates on widespread study of parallel manipulator. It focuses on optimal designing of manipulator which has a large number of application fields. Optimal design is an important criterion to improve the accuracy of a robot. Through optimal design a robot can achieve isotropic configurations where the condition number of its jacobian matrix equals one. In this we are also concentrating on transmission index and stiffness index along with their plots, which can affect the kinetostatic performance of the robot. In this the singularity of Gough Stewart platform is also studied.

Słowa kluczowe

EN

parallel manipulator; optimal design; isotropic; condition number; kinetostatic performances

PL

manipulator równoległy; projektowanie optymalne; izotropy; wskaźnik uwarunkowania; kinetostatyka

• Wydawca: Wydawnictwo Politechniki Łódzkiej
• Czasopismo: Mechanics and Mechanical Engineering
• Rocznik: 2018
• Tom: Vol. 22, nr 1
• Strony: 133--141
• Opis fizyczny: Bibliogr. 6 poz., 1 il., wykr.

Twórcy

autor

Chandrashekhar A.

• Mechanical Engineering Department, The ICFAI Foundation for Higher Education, Hyderabad, India

autor

Satish Babu G.

• Department of Mechanical Engineering, JNTUH College of Engineering, Hyderabad, India

Bibliografia

• [1] Mayer St-Onge, B., Gosselin, C. M.: Singularity Analysis and Representation of the General Gough-Stewart Platform, I. J. Robotics Res., 2000.
• [2] Collins, C. L., McCarthy, J. M.: The quartic singularity surfaces of planar platforms in the Clifford algebra of the projective plane, Mechanism and Machine Theory, 33, 7, 931–944 1998.
• [3] Legnani, G., Tosi, D., Fassi, I., Giberti, H., Cinquemani, S.: The “point of isotropy” and other properties of serial and parallel manipulators, Mechanism and Machine Theory, 45, 1407–1423, 2010.
• [4] Salisbury, J. K., Craig, J. J.: Articulated Hands Force Control and Kinematic Issues, The International Journal of Robotics Research, 1, 1, 4–17, 1982.
• [5] Hollerbach, J. M., Suh, K. C.: Redundancy Resolution of Manipulators through Torque Optimization, IEEE, 1016–1021, 1985.
• [6] Tanev, T., Stoyanov, B.: On the performance Indexes for Robot Manipulators, Journal of Bulgarian Academy of Sciences, Problems of Engineering Cybernetics and Robotics, 49, 64–71, 2000.

Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).