| Parallel manipulators are inherently well suited for applications in which rapid and accurate response is desired. A useful class of parallel manipulators, Gough-Stewart Platforms (GSPs), is considered. A new parameterization defining the kinematics and dynamics of GSPs is introduced. It is shown that these parameters can be chosen to dictate favorable dynamic and kinematic manipulator characteristics such as: dynamic decoupling, large Jacobian manipulability, small Jacobian condition number, optimal fault tolerance, and both dynamic and kinematic isotropy; further, it is shown that, while this parameterization entirely defines the kinematic and dynamic behavior of the manipulator, the physical manipulator geometry is free to be altered (subject to constraint) to accommodate an arbitrarily shaped payload and base mounting surface. Two design examples are presented, demonstrating the usefulness and practicality of this new parameterization of GSPs. |
