A Gough–Stewart platform is a type of parallel manipulator that has six prismatic actuators, commonly hydraulic jacks or electric linear actuators, attached in pairs to three positions on the platform's baseplate, crossing over to three mounting points on a top plate. All 12 connections are made via universal joints. Devices placed on the top plate can be moved in the six degrees of freedom in which it is possible for a freely-suspended body to move. These are the three linear movements x, y, z (lateral, longitudinal, and vertical), and the three rotations (pitch, roll, and yaw). Because of its motions, it is also called a six-axis platform or 6-DoF platform.
Name of the device
Designed by Gough and Stewart
This specialised six-jack layout was first used by V E (Eric) Gough of the UK and was operational in 1954, the design later being publicised in a 1965 paper by D Stewart to the UK Institution of Mechanical Engineers. Although the short title Stewart platform is now used for this jack layout, it would be fairer to Eric Gough to call it a Gough–Stewart platform. To be more precise, the original Stewart platform had a slightly different design. See the more detailed references at the end of this article.
Because the motions are produced by a combination of movements of several of the jacks, such a device is sometimes called a synergistic motion platform, due to the synergy (mutual interaction) between the way that the jacks are programmed.
Because the device has six jacks, it is often also known as a hexapod (six legs). The trademarked name "hexapod" (by Geodetic Technology) was originally for Stewart platforms used in machine tools. However, the term is now used for 6-jack platforms outside of the machine tool area, since it simply means "six legs".
In industrial applications, linear hydraulic actuators are typically used for their simple and unique inverse kinematics closed form solution and their good strength and acceleration.
For prototyping and low budget applications, typically rotary servo motors are used. A unique closed form solution for the inverse kinematics of rotary actuators also exists, as shown by Robert Eisele
Stewart platforms have applications in flight simulators, machine tool technology, animatronics, crane technology, underwater research, simulation of earthquakes, air-to-sea rescue, mechanical bulls, satellite dish positioning, the Hexapod-Telescope, robotics, and orthopedic surgery.
The Stewart platform design is extensively used in flight simulators, particularly in the full flight simulator which requires all 6 degrees of freedom. This application was developed by Redifon, whose simulators featuring it became available for the Boeing 707, Douglas DC-8, Sud Aviation Caravelle, Canadair CL-44, Boeing 727, Comet, Vickers Viscount, Vickers Vanguard, Convair CV 990, Lockheed C-130 Hercules, Vickers VC10, and Fokker F-27 by 1962.
In this role, the payload is a replica cockpit and a visual display system, normally of several channels, for showing the outside-world visual scene to the aircraft crew that are being trained. Payload weights in the case of a full flight simulator for a large transport aircraft can be up to about 15,000 kilogrammes.
Similar platforms are used in driving simulators, typically mounted on large X-Y tables to simulate short term acceleration. Long term acceleration can be simulated by tilting the platform, and an active research area is how to mix the two.
The Low Impact Docking System developed by NASA uses a Stewart platform to manipulate space vehicles during the docking process.
Taylor Spatial Frame
Dr. J. Charles Taylor utilized the Stewart platform to develop the Taylor Spatial Frame, an external fixator used in orthopedic surgery for the correction of bone deformities and treatment of complex fractures.
- First application: Eric Gough was an automotive engineer and worked at Fort Dunlop, the Dunlop Tyres factory in Birmingham, England. He developed his "Universal Tyre-Testing Machine" (also called the "Universal Rig") in the 1950s and his platform was operational by 1954. The rig was able to mechanically test tyres under combined loads. Dr. Gough died in 1972 but his testing rig continued to be used up until the late 1980s when the factory was closed down and then demolished. His rig was saved and transported to the Science Museum, London storage facility at Wroughton near Swindon.
- Recent applications: the rebirth of interest for a mechanical testing machine based on Gough-Stewart platform occurred in the mid '90s. They are often biomedical applications (for example spinal study) because of the complexity and large amplitude of the motions needed to reproduce human or animal behaviour. Such requirements are also encountered in the civil engineering field for seism simulation. Controlled by a full-field kinematic measurement algorithm, such machines can also be used to study complex phenomena on stiff specimens (for example the curved propagation of a crack through a concrete block) that need high load capacities and displacement accuracy.
- Gough, V. E. (1956–1957). "Contribution to discussion of papers on research in Automobile Stability, Control and Tyre performance". Proc. Auto Div. Inst. Mech. Eng.: 392–394.
- Stewart, D. (1965–1966). "A Platform with Six Degrees of Freedom". Proceedings of the Institution of Mechanical Engineers. 180 (1, No 15): 371–386. doi:10.1243/pime_proc_1965_180_029_02.
- Lazard, D.; Merlet, J. -P. (1994). "The (true) Stewart platform has 12 configurations". Proceedings of the 1994 IEEE International Conference on Robotics and Automation. p. 2160. doi:10.1109/ROBOT.1994.350969. ISBN 978-0-8186-5330-8.
- Parallel Robots - Second Edition by J.P. Merlet (p. 48)
- Fraunhofer Research: Hexapod Robot for Spine Surgery
- Robert Eisele. "Inverse Kinematics of a Stewart Platform". Retrieved 2019-04-15.
- "1962 | 1616 | Flight Archive".
- Computer Assisted Rehabilitation ENvironment (CAREN)
- "J. Charles Taylor, M.D."
- Tompkins, Eric (1981). The History of the Pneumatic Tyre. Dunlop. pp. 86, 91. ISBN 978-0-903214-14-8.
- Michopoulos, John G.; Hermanson, John C.; Furukawa, Tomonari (2008). "Towards the robotic characterization of the constitutive response of composite materials". Composite Structures. 86 (1–3): 154–164. doi:10.1016/j.compstruct.2008.03.009.
- Stokes, Ian A.; Gardner-Morse, Mack; Churchill, David; Laible, Jeffrey P. (2002). "Measurement of a spinal motion segment stiffness matrix". Journal of Biomechanics. 35 (4): 517–521. CiteSeerX 10.1.1.492.7636. doi:10.1016/s0021-9290(01)00221-4.
- Jailin, Clément; Carpiuc, Andreea; Kazymyrenko, Kyrylo; Poncelet, Martin; Leclerc, Hugo; Hild, François; Roux, Stéphane (2017). "Virtual hybrid test control of sinuous crack" (PDF). Journal of the Mechanics and Physics of Solids. 102: 239–256. doi:10.1016/j.jmps.2017.03.001.
- Bonev, I.A., "The True Origins of Parallel Robots", ParalleMIC online review
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