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Performance analysis of Gough Stewart platform with 6 limbs

Chandrashekhar A., Satish Babu G.

Mechanics and Mechanical Engineering

2018

Vol. 22, nr 1

133--141

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.