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Stewart Platforms with Finite Singular Motions

Authors: [tex2html_wrap4332]P. Zsombor-Murray, M. Husty, D. Hartmann

Investigator username: paul

Category: robotics

Subcategory: modelling and simulation

Parallel 6DOF manipulators, commonly used to animate flight simulators, consist of a rigid body supported on 6 SPU legs (S=spherical, P=prismatic, U=Hooke or universal joint) wherein the 6 P's are cylinder actuated. Normally, if these are all locked, the platform is in static equilibrium. However certain combinations of U-joint location and leg lengths will allow it to move freely with 1 DOF. This motion, given a pathalogical configuration of joints and legs, will theoretically ensue even if the platform is supported on [tex2html_wrap4330].


baron@cim.mcgill.ca