Experimental Investigations on the Contour Generation of a Reconfigurable Stewart Platform

Experimental Investigations on the Contour Generation of a Reconfigurable Stewart Platform

G. Satheesh Kumar (Indian Institute of Technology Madras, India) and T. Nagarajan (Universiti Teknologi Petronas (UTP), Malaysia)
DOI: 10.4018/978-1-4666-3634-7.ch019
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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.
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2. Reconfiguration

A modular reconfigurable robotic system is a collection of individual link and joint components that can be assembled into different robot geometries for specific task requirements. However, the machining tolerance and assembly errors at the module interconnections affect the positioning accuracy of the end-effector (Chen & Yang, 1997, 1998; Chen & Burdick, 1998). A generic approach which is better than the modular design approach for the prescribed varying tasks should be identified. The authors in their earlier work identified from the literature (Du Plessis & Snyman, 2006; Lin et al., 2003; Chen, 2000, 2001) that there is a lack of an efficient holistic methodology for determining the optimum geometry for the task of reconfiguration. It was also identified (Leger, 1999; Chen et al., 1999, 2001; Xi, 2001) that there is a need to develop a reconfigurable configuration for at least two applications.

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