Design of a semi-regular Stewart platform manipulator for a desired workspace

Chatterjee, D and Ghosal, A (2020) Design of a semi-regular Stewart platform manipulator for a desired workspace. In: 14th National Conference on Machines and Mechanisms, NaCoMM 2009, 17-18 December 2009, National Institute of Technology Durgapur; India, pp. 240-246.

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Abstract

The SRSPM is the most widely used and hence the most important Gough-Stewart platform configuration for various practical applications. Hence design for geometrical parameters to achieve optimal performance is of considerable interest. This paper presents a search based algorithm to determine the optimal geometrical parameters for the SRSPM for given desired workspace specifications. We have used the knowledge of the generic shape of the workspace as revealed by previous studies, and a few fundamental observations on the effect of varying different geometrical parameters on the geometry of the workspace to design an algorithm to solve our design problem. Two main observations used are - the size of the end effecter determines what volume of the reachable workspace is actually the region over which the tool is orientable in any desired directions and the actuated length can be increased to have a new increased workspace volume.

Item Type:	Conference Paper
Publication:	14th National Conference on Machines and Mechanisms, NaCoMM 2009
Publisher:	NaCoMM 2009
Additional Information:	cited By 0; Conference of 14th National Conference on Machines and Mechanisms, NaCoMM 2009 ; Conference Date: 17 December 2009 Through 18 December 2009; Conference Code:160534
Keywords:	Manipulators; Parameter estimation, Design problems; End-effecters; Generic shapes; Gough-Stewart platform; Optimal performance; Reachable workspace; Search-based algorithms; Stewart platform manipulator, Geometry
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	20 Oct 2020 11:40
Last Modified:	08 Dec 2022 12:02
URI:	https://eprints.iisc.ac.in/id/eprint/66053

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