This work focuses on analyzing the effects of the geometric parameters on the singularity-free workspace in order to determine the optimal architecture for the minimal simplified symmetric manipulator Gough–Stewart platform. To this end, the reference orientation is taken as the considered orientation because it is an impartial orientation. In this orientation, the singularity surface becomes a plane coinciding with the base plane. Accordingly, an analytic algorithm is developed to determine the singularity-free workspace. The analysis shows that: (1) for similar isosceles triangle base and platform, the optimal architecture is one for which both the base and the platform are equilateral triangles, and the size ratio between the platform and the base is ; and (2) if the base and the platform are not similar triangles, the global optimal architecture is difficult to determine. Only an approximate optimal architecture is available.
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e-mail: gosselin@gmc.ulaval.ca
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August 2009
Research Papers
Geometric Optimization of the MSSM Gough–Stewart Platform
Qimi Jiang,
Qimi Jiang
Department of Mechanical Engineering,
Laval University
, Québec City, QC, G1V 0A6 Canada
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Clément M. Gosselin
Clément M. Gosselin
Professor
Department of Mechanical Engineering,
e-mail: gosselin@gmc.ulaval.ca
Laval University
, Québec City, QC, G1V 0A6 Canada
Search for other works by this author on:
Qimi Jiang
Department of Mechanical Engineering,
Laval University
, Québec City, QC, G1V 0A6 Canada
Clément M. Gosselin
Professor
Department of Mechanical Engineering,
Laval University
, Québec City, QC, G1V 0A6 Canadae-mail: gosselin@gmc.ulaval.ca
J. Mechanisms Robotics. Aug 2009, 1(3): 031006 (8 pages)
Published Online: July 14, 2009
Article history
Received:
April 18, 2008
Revised:
November 21, 2008
Published:
July 14, 2009
Citation
Jiang, Q., and Gosselin, C. M. (July 14, 2009). "Geometric Optimization of the MSSM Gough–Stewart Platform." ASME. J. Mechanisms Robotics. August 2009; 1(3): 031006. https://doi.org/10.1115/1.3147202
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