Characterization of reconfigurable Stewart platform for contour generation

Kumar, S.G and Nagarajan, T and Srinivasa, Y.G (2009) Characterization of reconfigurable Stewart platform for contour generation. Robotics and Computer-Integrated Manufacturing, 25 (4-5). pp. 721-731. ISSN 07365845

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The limited treatment available for Stewart platform characteristics leads to the lack of an efficient methodology for determining the optimum geometry for different tasks. In this paper, an effort is made to characterize the parameters for developing a reconfigurable Stewart platform for the contour generation application. A solution is provided through the formulation of dimensionless parameters in combination with a study on the generic parameters like configuration. The variable geometry approach for the reconfiguration of Stewart platform has been adopted for four different platforms, and a generic approach is formulated after studying different parameters. A stiffness model developed for contour generation application is used in tandem with this generic approach to identify the trajectory with maximum stiffness for complex contours. The proposed methodology provides a holistic approach to develop a complete set of design tool to choose the optimum geometry for any new reconfigurable Stewart platform to be developed. © 2008 Elsevier Ltd. All rights reserved.

Item Type: Article
Uncontrolled Keywords: Engineering controlled terms: Computational geometry; Machine tools; Machining Engineering uncontrolled terms: Contour generations; Design tools; Dimensionless parameters; Generic approaches; Generic parameters; Holistic approaches; Maximum stiffness; Optimum geometries; Re-configurable; Reconfigurability; Stewart platform; Stiffness models; Variable geometries Engineering main heading: Stiffness
Subjects: T Technology > TJ Mechanical engineering and machinery
Departments / MOR / COE: Departments > Mechanical Engineering
Depositing User: Prof Dr Nagarajan Thirumalaiswamy
Date Deposited: 11 Mar 2010 08:09
Last Modified: 19 Jan 2017 08:25

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