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RESEARCH PAPERS

Working Capability Analysis of Stewart Platforms

[+] Author and Article Information
Chi-Mei Luh, F. A. Adkins

Center for Computer-Aided Design and Applied Mathematical and Computational Sciences, The University of Iowa, Iowa City, IA

E. J. Haug

Center for Computer-Aided Design and Department of Mechanical Engineering, The University of Iowa, Iowa City, IA

C. C. Qiu

Black & Veatch, Kansas City, MO

J. Mech. Des 118(2), 220-227 (Jun 01, 1996) (8 pages) doi:10.1115/1.2826873 History: Received October 01, 1994; Revised September 01, 1995; Online December 11, 2007

Abstract

Working capability analysis of planar and spatial Stewart platforms with unilateral constraints on actuator length is carried out using numerical methods based on analytical criteria for the boundary of the accessible output set. Restrictions on achievable motion at singular configurations associated with points interior to the accessible output set are also analyzed. Since movement of the working point on a spatial Stewart platform occurs in three-dimensional space, the boundary of the accessible output set is a two-dimensional surface. Numerical methods used in this analysis map one-dimensional solution sets, permitting the boundary of the accessible output set to be characterized by a family of one dimensional generators. Motion control restrictions inside the accessible output set are similarly characterized by families of interior singular curves, and barriers to motion control across surfaces defined are analyzed.

Copyright © 1996 by The American Society of Mechanical Engineers
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