Locally Dynamic Isotropy of Modified Symmetric Gough-Stewart Parallel Micromanipulators
نویسندگان
چکیده
This paper develops methods for designing a large class of locally dynamic isotropic modified symmetric Gough-Stewart parallel micromanipulators (MSGSPMs). First, by exploiting rotational symmetric geometry, the concept of dynamic isotropy is proposed and the dynamic isotropy matrix considering the mass geometry characteristics of the payload is constructed symbolically. Next, the singular values of the dynamic isotropy matrix are introduced to evaluate isotropy, and they are solved analytically. The conditions for dynamic isotropy in the individual cases, as well as complete isotropy are expressed analytically in close-form. The algorithm is directly applicable to determine families of dynamic isotropic MSGSPMs. Invariant properties of dynamic isotropic MSGSPMs are developed.
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