Consideration of strut inertia can have significant influence on the modal behavior of a Gough-Stewart Platform (GSP). However, in the literature, the strut inertia has not yet been taken into account in its vibration study with a parametric approach. In this paper, we present a fully parametric approach to formulate the damped vibrations of GSPs taking into account the strut masses and moments of inertia for symmetric configurations. For the first time, a combined 6 x 6 equivalent inertia matrix (mass matrix), including both the inertia properties of the platform and the struts, is formulated parametrically. Subsequently, the eigenvectors and the damped eigenfrequencies are also parametrically developed in the Cartesian space. Furthermore, the conditions for the decouplecl vibrations and the effect of strut inertia on these conditions are analytically investigated. With the aid of a reference GSP, the influence of the strut inertia on its modal behavior is systematically investigated. Accordingly, it is concluded that the parametric equations established in this paper can be directly employed in the analysis, optimization and control of GSPs in any application. (C) 2015 Elsevier Ltd. All rights reserved.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Influence of strut inertia on the vibrations in initially symmetric Gough-Stewart Platforms-an analytical study




    Erscheinungsdatum :

    2015



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch



    Klassifikation :

    BKL:    33.12 Akustik / 50.36 Technische Akustik / 53.79 Elektroakustik, Tonstudiotechnik / 50.32 Dynamik, Schwingungslehre / 58.56 Lärmschutz, Erschütterungsdämpfung
    Lokalklassifikation TIB:    275/3425




    Stewart Gough platforms with non-cubic singularity surface

    Nawratil, Georg | Online Contents | 2010


    Singularity-invariant leg rearrangements in doubly-planar Stewart-Gough platforms

    Borràs Sol, Júlia / Thomas, Federico / Torras, Carme | BASE | 2010

    Freier Zugriff

    Singularity-invariant leg rearrangements in doubly-planar Stewart-Gough platforms

    Borràs, Julia / Thomas, Federico / Torras, Carme | BASE | 2010

    Freier Zugriff

    Simplified Voronoi diagrams for motion planning of quadratically-solvable Gough-Stewart platforms

    Vaca, Rubén / Aranda López, Juan / Thomas, Federico | BASE | 2012

    Freier Zugriff