Abstract
The Stewart platform is a typical parallel manipulator. It is used as a space docking mechanism whose requirement for movement scope is determinate. This article addresses the dimension synthesis o...
Highlights
Almost 50 years ago, Stewart introduced a parallel actuated manipulator with 6 degrees of freedom (DOF), which is popularly known as the Stewart platform.[1]
The evaluation indexes based on the Jacobian matrix, including the singular value index, the manipulability index,[4,5] the local condition index (LCI), and the global condition index (GCI),[6,7,8] are derived from the Jacobian matrix of the manipulator
Compared to the previous global evaluation indexes, which are commonly obtained by calculating the average value of the evaluation index in the translational workspace when keeping the orientation constant, or calculating the average value of the evaluation index in the rotational workspace when keeping the position constant, the GTIc proposed in this article can evaluate the transmissibility in translational and rotational direction simultaneously
Summary
Almost 50 years ago, Stewart introduced a parallel actuated manipulator with 6 degrees of freedom (DOF), which is popularly known as the Stewart platform.[1]. The maximum singular value smax of Jacobian matrix can be used to measure the maximum velocity of the prismatic actuators when the generalized velocity of the platform is unity, so the smax index can be used to measure the drive capability of the manipulator.
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