Generating classes of Orthogonal Gough-Stewart Platforms

Yong Yi, John E. McInroy, Farhad Jafari

Research output: Contribution to journalConference articlepeer-review

8 Scopus citations


This paper develops methods for generating classes of Orthogonal Gough-Stewart Platforms (OGSPs). First, a new, two-parameter class of six-strut OGSPs is found. For an even number of struts, the same essential concepts used to generate the six-strut case can be employed to generate OGSPs with eight struts, ten struts, etc. Next, by exploiting invariant properties of the inverse Jacobian, new methods for favorably altering the center of gravity, strut attachment surface, and strut spatial distribution are developed. As an illustrative example, these methods are applied to the design of the attachment of a vibration isolation and precision pointing system for the Space Based Laser.

Original languageEnglish (US)
Pages (from-to)4969-4974
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Issue number5
StatePublished - Jul 5 2004
Externally publishedYes
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: Apr 26 2004May 1 2004


  • Gough-Stewart Platforms
  • Isotropy
  • Kinematic design
  • Parallel manipulators


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