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actuator force

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Some geometric, kinematic, and dynamic considerations on Stewart-Gough platforms with singularity analysis
A. Saide Sarıgül, Burcu Güneri
Journal:

Robotica / Volume 32 / Issue 6 / September 2014

Published online by Cambridge University Press:

13 December 2013, pp. 953-966
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In this study, some geometric, kinematic, and dynamic aspects of the design of a Stewart-Gough platform are examined. The focus of the analyses is on a particular Stewart-Gough platform that we have constructed. The analysis begins with workspace simulations for different moving platform orientations. The computations extend to a parametric study of some geometric and kinematic constraints: Joint angle, rotation angle, and limb length. Actuator force is another parameter considered; and the triple relationship between workspace, joint angle, and actuator force is discussed. Parametric analyses are culminated with a brief discussion of the real design parameters.