The 6 × 6 stiffness matrix for a single Stewart platform tensile truss is well known. This work extends the methodology used to determine the stiffness matrix of a double Stewart platform system, in which one Stewart platform is stacked on top of another, in serial fashion. A double Stewart platform may offer advantages for some applications in terms of increased stiffness in certain directions. Using principles of statics and considering small displacement perturbations in three-dimensional space of both mobile platforms (middle and bottom) from their weighted equilibrium locations, displacements can be related in a linear manner to application loading, implying a stiffness matrix. Scripts are then developed and executed in matlabtm to determine the stiffness matrix of a specific system. The matlabtm result is validated using single and double Stewart platform physical models and measuring system compliance responses to external forces and moments.
Analytical Evaluation of the Double Stewart Platform Tensile Truss Stiffness Matrix
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received July 31, 2012; final manuscript received August 22, 2013; published online November 6, 2013. Assoc. Editor: Yuefa Fang.
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Hesselroth, A. H., and Hennessey, M. P. (November 6, 2013). "Analytical Evaluation of the Double Stewart Platform Tensile Truss Stiffness Matrix." ASME. J. Mechanisms Robotics. February 2014; 6(1): 011003. https://doi.org/10.1115/1.4025470
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