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A Class of Generali...
A Class of Generalized Gough-Stewart Platforms Used for Effectively Obtaining Dynamic Isotropy - an Analytical Study
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- Afzali Far, Behrouz (författare)
- Lund University,Lunds universitet,Mekanik,Institutionen för maskinvetenskaper,Institutioner vid LTH,Lunds Tekniska Högskola,Mechanics,Department of Mechanical Engineering Sciences,Departments at LTH,Faculty of Engineering, LTH
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- Lidström, Per (författare)
- Lund University,Lunds universitet,Mekanik,Institutionen för maskinvetenskaper,Institutioner vid LTH,Lunds Tekniska Högskola,Mechanics,Department of Mechanical Engineering Sciences,Departments at LTH,Faculty of Engineering, LTH
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(creator_code:org_t)
- 2015-12-16
- 2015
- Engelska.
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Ingår i: 2015 4th International Conference on Mechanics and Control Engineering (ICMCE 2015). - : EDP Sciences. ; 35
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Abstract
Ämnesord
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- In this paper, we propose a class of Generalized Gough-Stewart Platforms (GGSPs) used, as a novel approach, to eliminate the classical isotropic constraint of GSPs (hexapods). GGSPs are based on the standard GSP architecture with additional rotations of the three strut-pairs. Despite the architectural generalization introduced in GGSPs, they do not require much more effort in order to be fabricated. This is due to the fact that all the struts (actuators) can be chosen identical, similar to standard GSPs. We analytically show how effectively the classical isotropic constraint is removed and that still sufficient simplicity is retained. Furthermore, this paper gives an intuitive understanding of dynamic isotropy in GGSPs as well as GSPs.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Maskinteknik -- Teknisk mekanik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Mechanical Engineering -- Applied Mechanics (hsv//eng)
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