An algebraic formulation of static isotropy and design of statically isotropic 6-6 Stewart platform manipulators

Bandyopadhyay, Sandipan and Ghosal, Ashitava (2009) An algebraic formulation of static isotropy and design of statically isotropic 6-6 Stewart platform manipulators. In: Mechanism and Machine Theory, 44 (7). p. 1360.

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Abstract

In this paper, we present an algebraic method to study and design spatial parallel manipulators that demonstrate isotropy in the force and moment distributions. We use the force and moment transformation matrices separately, and derive conditions for their isotropy individually as well as in combination. The isotropy conditions are derived in closed-form in terms of the invariants of the quadratic forms associated with these matrices. The formulation is applied to a class of Stewart platform manipulator, and a multi-parameter family of isotropic manipulators is identified analytically. We show that it is impossible to obtain a spatially isotropic configuration within this family. We also compute the isotropic configurations of an existing manipulator and demonstrate a procedure for designing the manipulator for isotropy at a given configuration. (C) 2008 Elsevier Ltd. All rights reserved.

Item Type:	Journal Article
Publication:	Mechanism and Machine Theory
Publisher:	Elsevier Science
Additional Information:	Copyright of this article belongs to Elsevier Science.
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	12 Mar 2010 09:28
Last Modified:	19 Sep 2010 05:55
URI:	http://eprints.iisc.ac.in/id/eprint/25870

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