This paper describes a method to solve the direct kinematics of a generic Stewart-Gough manipulators. The method is formulated in terms of a search in the space of rigid body transformations. The underlying idea is that the solutions of the direct kinematics can be obtained by moving the end-effector body according rotations and translations and accounting for the rigidity conditions. The paper...

This paper proposes a novel application of the Stewart–Gough parallel platform as a climbing robot and its kinematics control to climb through long structures describing unknown spatial trajectories, such as palm trunks, tubes, etc. First, the description and design of the climbing parallel robot is presented. Second, the inverse and forward kinematics analysis of a mobile six-degrees-of-freedo...

In this paper, a novel adaptive fuzzy controller (AFC) is proposed to deal with the control problem of a parallel robot consisting of a Stewart platform and hydraulic actuators. Specifically, only two signals are measured from the robot system, namely, the leg displacements through Linear Variable Differential Transformer (LVDT) and the current change with Hall sensor. To cope with the difficul...

The Robot Systems Division of the National Institute of Standards and Technology has been experimenting for several years with new concepts for robot cranes. These concepts utilize the basic idea of the Stewart Platform parallel link manipulator. The unique feature of the NIST approach is to use cables as the parallel links and to use winches as the actuators. So long as the cables are all in t...

Parallel manipulators have been proposed to overcome accuracy problem in the end effector positioning, exhibited by serial manipulators(Stewart, 1965)(Reboulet, 1988)(Merlet, 2000). These parallel robots are primarly used in the applications for which the considered processes require a high degree of accuracy, high speeds or accelerations. Aircraft simulator (Stewart, 1965), machining tools (Ne...

The remarkable properties of sliding mode control (SMC)—such as robustness, accuracy, and ease implementation—have contributed to its wide adoption by the community. To accurately compensate for parametric uncertainties, switching part SMC controller should have gains that are sufficiently large deal with but small minimize chattering phenomena. Hence, proper adjustment is crucial ensure accura...

It has been nearly 60 years since the introduction of Gough–Stewart manipulator (GSM). With advantages superior load capacity and high precision, GSM still plays an important role in many fields. However, limitations such as a small workspace complex singularities. To overcome these problems, novel kinematically redundant parallel robot is designed with three actuators added on basis GSM. First...

One of the research directions in recent decades is the construction of manipulators with parallel architecture. These mechanisms are closed-loop structures that consist of numerous separate serial chains acting in parallel and connecting the fixed base to the moving platform. Equipped with revolute or prismatic actuators, parallel manipulators have a robust construction and can move bodies of ...

This paper presents closed form solutions for the inverse and direct dynamic models of the Gough-Stewart parallel robot. The models are obtained in terms of the Cartesian dynamic model elements of the legs and of the Newton-Euler equation of the platform. The final form has an interesting and intuitive physical interpretation. The base inertial parameters of the robot, which constitute the mini...

| This paper addresses the control problem of hydraulic robot manipulators. The backstepping design methodology is adopted to develop a novel nonlinear position tracking controller. The tracking errors are shown to be exponentially stable under the proposed control law. The controller is further augmentedwith adaptation laws to compensate for parametric uncertainties in the system dynamics. Acc...