Characterization of reconfigurable Stewart platform for contour generation

摘要

The limited treatment available for Stewart platform characteristics leads to the lack of an efficient methodology for determining the optimum geometry for different tasks. In this paper, an effort is made to characterize the parameters for developing a reconfigurable Stewart platform for the contour generation application. A solution is provided through the formulation of dimensionless parameters in combination with a study on the generic parameters like configuration. The variable geometry approach for the reconfiguration of Stewart platform has been adopted for four different platforms, and a generic approach is formulated after studying different parameters. A stiffness model developed for contour generation application is used in tandem with this generic approach to identify the trajectory with maximum stiffness for complex contours. The proposed methodology provides a holistic approach to develop a complete set of design tool to choose the optimum geometry for any new reconfigurable Stewart platform to be developed.