Analysis of Two-Radii Gough-Stewart Platform: Kinematics, Isotropy and Dynamics using Multibody Dynamics Methodology

The paper deals with a well-known Gough Stewart Platform (GSP) that has a robust mechanical structure with some closed linkages. This paper is shed light on solving GSP’s kinematics and dynamics by using some numerical methods traditionally used in the field of multi-body academic society, such as the extended mass/inertia matrix including constraint equations and modified Lagrange coefficients. It follows to shows some simulation results of dynamic motions using a simple feedback controller. Typical GSP provides translations of its moving plate along three axes and its rotations about three axes as well (total six DOFs) with much precision. One problem is how evenly provides these three translations and rotations in force translation with a given structural arrangement. It is called isotropic trait in motion. The paper proposes a measure of isotropy for translation and rotation. It quantitatively evaluates a test GSP machine now we are on developing being much more isotropic than the GSP having conventional deployment of struts.