Title :
Realization of micromanipulating Gough-Stewart platforms with desired dynamics
Author :
Guo, Zhijiang ; McInroy, John E. ; Jafari, Fahard
Author_Institution :
Dept. of Electr. & Comput. Eng., Wyoming Univ., Laramie, WY
Abstract :
A new design method for optimizing Gough-Stewart platform geometries is proposed in this paper. The prior studies are extended through optimizing both the kinematics and dynamics. Firstly, a new class of weighted orthogonal Gough-Stewart platforms (w-OGSPs) is proposed. Then the concept of simultaneously diagonal OGSPs (sd-OGSPs) is defined. The sd-OGSPs allow the Cartesian second order impedance to be specified, thus obtaining desired local system poles. Design algorithms and simulation results are given
Keywords :
manipulator dynamics; manipulator kinematics; micromanipulators; motion control; poles and zeros; vibration isolation; Cartesian second order impedance; dynamics; kinematics; local system poles; micromanipulating Gough-Stewart platforms; motion control; vibration isolation; Algorithm design and analysis; Computational geometry; Design methodology; Jacobian matrices; Manipulators; Motion control; Nonlinear dynamical systems; Space technology; Transmission line matrix methods; Vibration control;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1641785
