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2012 | OriginalPaper | Chapter
Reconfigurable Stewart Platform for Vibration Isolation
Authors : G. Satheesh Kumar, Thirumalaiswamy Nagarajan
Published in: Trends in Intelligent Robotics, Automation, and Manufacturing
Publisher: Springer Berlin Heidelberg
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Stewart platform in real time for reconfigurable applications has been a problem due to the lack of an efficient methodology for determining the optimum geometry for a given task. The authors extend the solution from their previous work (Satheesh et al., 2009) to encompass all the possible design constraints that generally might occur in scenarios with varying task requirements. This paper attempts to characterize the parameters for active vibration isolation applications through the same approach. The output of simulation shows a better performance for the 3-3 configuration over 6-6 configuration for active vibration isolation applications. Overshoot diminishes with a reduction in
η
. The effective active range of the dimensionless parameter joint vector
η
, is observed to be 2.0-0.5. This methodology thus becomes established encompassing all constraints to build a complete set of design tool for reconfiguration of any new reconfigurable Stewart platform..