On the stiffness and stability of Gough-Stewart platforms

M. M. Svinin; S. Hosoe; M. Uchiyama

doi:10.1109/ROBOT.2001.933122

On the stiffness and stability of Gough-Stewart platforms

M. M. Svinin, S. Hosoe, M. Uchiyama

Research output: Contribution to journal › Article › peer-review

49 Citations (Scopus)

Abstract

This paper deals with a class of parallel mechanisms, called Gough-Stewart platforms. For these mechanisms, pre-loaded by driving forces, the stiffness matrix is derived and its basic properties are established. It is shown when the stiffness matrix becomes asymmetric, how the parametric imbalance may influence the system stability, and how the center of stiffness depends on the force pre-loading. Next, some necessary and some sufficient conditions for the stability are established in an analytical form by transforming the stiffness matrix to the center of stiffness.

Original language	English
Pages (from-to)	3268-3273
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	4
DOIs	https://doi.org/10.1109/ROBOT.2001.933122
Publication status	Published - 2001
Externally published	Yes

All Science Journal Classification (ASJC) codes

Software
Artificial Intelligence
Electrical and Electronic Engineering
Control and Systems Engineering

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10.1109/ROBOT.2001.933122

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AB - This paper deals with a class of parallel mechanisms, called Gough-Stewart platforms. For these mechanisms, pre-loaded by driving forces, the stiffness matrix is derived and its basic properties are established. It is shown when the stiffness matrix becomes asymmetric, how the parametric imbalance may influence the system stability, and how the center of stiffness depends on the force pre-loading. Next, some necessary and some sufficient conditions for the stability are established in an analytical form by transforming the stiffness matrix to the center of stiffness.

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ER -

On the stiffness and stability of Gough-Stewart platforms

Abstract

All Science Journal Classification (ASJC) codes

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