A study of a Gough-Stewart platform-based manipulator for applications in biomechanical testing
نویسنده
چکیده
........................................................................................................................ I Statement of Originality ............................................................................................. V Acknowledgement .................................................................................................... VII Table of
منابع مشابه
Six component force-torque sensors using Gough-Stewart platform manipulators
The six-degrees-of-freedom GoughStewart platform manipulator is a promising alternate architecture for the mechanical design of a six component force-torque sensor. Two basic configurations of the Gough-Stewart platforms are used for the design of six component force-torque sensors. In an isotropic configuration, equal sensitivity for all the six components of the force and torque being measure...
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In this paper we address the problem of identifying the property of the singularity loci of a class of 6/6-Gough–Stewart manipulators in which the moving and base platforms are two similar semiregular hexagons. After constructing the Jacobian matrix of this class of 6/6-Gough–Stewart manipulators according to the theory of statical equilibrium, we derive a cubic polynomial expression in the mov...
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A parallel manipulator of STEWART GOUGH (SG) type consists of a platform and a base, which are connected via six spherical-prismatic-spherical legs, where all prismatic joint are active (actuated) and all spherical joints are passive (non-actuated). If we fix the prismatic joints, the SG platform is generically rigid, but under particular geometric conditions the manipulator can perform a n-dim...
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This paper addresses the problem of identifying the property of the singularity loci of a class of 3/6‐ Gough‐Stewart manipulators for general orientations in which the moving platform is an equilateral triangle and the base is a semiregular hexagon. After constructing the Jacobian matrix of this class of 3/6‐Gough‐Stewart manipulators according to the screw theory, a...
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A STEWART GOUGH (SG) manipulator, where the platform is similar to the base, is called equiform SG manipulator. It is well known that these SG manipulators with planar platform and planar base only have self-motions, if they are architecturally singular; i.e. the anchor points are located on a conic section. Therefore this study focuses on the non-planar case. We prove that an equiform SG manip...
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