On the stiffness and stability of Gough-Stewart platforms

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

    研究成果: Article査読

    43 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ページ(範囲)3268-3273
    ページ数6
    ジャーナルProceedings - IEEE International Conference on Robotics and Automation
    4
    DOI
    出版ステータスPublished - 2001

    ASJC Scopus subject areas

    • ソフトウェア
    • 制御およびシステム工学
    • 人工知能
    • 電子工学および電気工学

    フィンガープリント

    「On the stiffness and stability of Gough-Stewart platforms」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

    引用スタイル