Some geometric, kinematic, and dynamic considerations on Stewart-Gough platforms with singularity analysis

摘要

In this study, some geometric, kinematic, and dynamic aspects of the design of a Stewart-Gough platform are examined. The focus of the analyses is on a particular Stewart-Gough platform that we have constructed. The analysis begins with workspace simulations for different moving platform orientations. The computations extend to a parametric study of some geometric and kinematic constraints: Joint angle, rotation angle, and limb length. Actuator force is another parameter considered; and the triple relationship between workspace, joint angle, and actuator force is discussed. Parametric analyses are culminated with a brief discussion of the real design parameters.