Design of dynamically isotropic two radii Gough-Stewart platforms with arbitrary number of struts

Singh, YP and Ahmad, N and Ghosal, A (2021) Design of dynamically isotropic two radii Gough-Stewart platforms with arbitrary number of struts. In: 9th RSI International Conference on Robotics and Mechatronics, ICRoM 2021 . pp. 66-71.

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Abstract

A class of dynamically isotropic two radii Gough-Stewart Platform (GSP) is considered in this work for the application of isolating micro-vibration. Such a device can attenuate the first six modes of vibration equally and effectively. A novel geometry-based approach employing the force transformation matrix is used to arrive at a complete set of closed-form analytical solutions for any given payload. The above method is applicable to any number of struts (even and odd) for a two radii GSP. A 6-6 dynamically isotropic two radii GSP was found most suitable for the micro-vibration isolation applications compared to other configurations with more struts as it has the lowest natural frequency. The generalized approach presented in this work is based on geometry and has not been discussed in any existing literature. The dynamically isotropic designs obtained from the closed-form solutions were successfully validated using the finite element software ANSYS®. © 2021 IEEE.

Item Type:	Journal Article
Publication:	9th RSI International Conference on Robotics and Mechatronics, ICRoM 2021
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Linear transformations; Matrix algebra; Struts, Arbitrary number; Complete sets; Dynamic isotropy; Force transformation matrix; Frequency matrix; Gough-Stewart platform; Isotropics; Microvibrations; Modified gough-stewart platform; Natural frequency matrix, Natural frequencies
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	09 Mar 2022 10:32
Last Modified:	09 Mar 2022 10:32
URI:	http://eprints.iisc.ac.in/id/eprint/71547

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