A Class of Generalized Gough-Stewart Platforms Used for Effectively Obtaining Dynamic Isotropy – An Analytical Study

Abstract

Abstract. 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.

Dynamic isotropy in 3-DOF Gantry Tau robots - an analytical study

“…The concept of dynamic isotropy can be used, as an effective method, to calculate dynamically optimal geometries for the target (default) configuration of parallel robots [4]- [7]. Dynamic isotropy is obtained where the matrix 1 M K − becomes a scaled identity, from which it follows that all the eigenfrequencies (natural frequencies) are equal.…”