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Meccanica

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18-02-2020

A Gough–Stewart parallel manipulator with configurable platform and multiple end-effectors

Author: Jaime Gallardo-Alvarado

Published in: Meccanica | Issue 3/2020

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Abstract

This work describes a novel robot manipulator with configurable platform. Three internal degrees-of-freedom are added for controlling the relative orientation of the terminal links supporting multiple end-effectors of a Gough–Stewart-type parallel manipulator. The instantaneous forward and inverse kinematic analyses of the robot are derived using the theory of screws. Furthermore, the exploitation of this approach for deriving the acceleration analyses of a parallel manipulator with configurable platform is novel in this research field. As an intermediate step the forward and inverse displacement analyses are also investigated. A numerical example is compared with the outcome of a commercial software demonstrating the approach correctness.

previous article Design optimization of a planar piezo-electric actuation stage for vibration control of rotating machinery

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Title: A Gough–Stewart parallel manipulator with configurable platform and multiple end-effectors
Author: Jaime Gallardo-Alvarado
Publication date: 18-02-2020
Publisher: Springer Netherlands
Published in: Meccanica / Issue 3/2020
Print ISSN: 0025-6455
Electronic ISSN: 1572-9648
DOI: https://doi.org/10.1007/s11012-020-01136-y

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