Experimental Investigations on the Contour Generation of a Reconfigurable Stewart Platform

E-ISSN： 2156-1656|1|4|87-99

ISSN： 2156-1664

Source： International Journal of Intelligent Mechatronics and Robotics (IJIMR), Vol.1, Iss.4, 2011-10, pp. : 87-99

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Abstract

Reconfiguration of Stewart platform for varying tasks accentuates the importance for determination of optimum geometry catering to the specified task. The authors in their earlier work (Satheesh et al., 2008) have indicated the non availability of an efficient holistic methodology for determining the optimum geometry. Further, they have proposed a solution using the variable geometry approach through the formulation of dimensionless parameters in combination with generic parameters like configuration and joint vector. The methodology proposed provides an approach to develop a complete set of design tool for any new reconfigurable Stewart platform for two identified applications viz., contour generation and vibration isolation. This paper details the experimental investigations carried out to validate the analytical results obtained on a developed Stewart platform test rig and error analysis is performed for contour generation. The experimental natural frequency of the developed Stewart platform has also been obtained.