Abstract
Gough-Stewart platform (GSP) has been extensively used as motion simulators. In order to get good performance of the motion simulators, the dynamic characteristics are needed to be considered in the design process. This paper established a dynamic dexterity index based on the generalized mass matrix in the joint space, which is invariant under the change of units and has a physical meaning. The dynamic dexterity indexes can also be established in the similar way as other parallel robots with the only pure active joints. In the last, a motion simulator is optimized based on the dynamic dexterity index to satisfy the customer’s requirements by using real-coded genetic algorithms.
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