Kinematics, design and control of the 6‐PSU platform

The Department of Mechanical Engineering at Ohio University has designed, constructed, and controlled a new 6‐dof in‐parallel‐actuated platform, a combination and modification of existing designs. The 6‐PSU platform consists of six legs with a prismatic joint, spherical joint, and universal joint connecting links in each leg which move the platform in the six Cartesian freedoms with respect to the base. The prismatic joint is actuated while the other two joints in each leg are passive. The six prismatic joints move vertically with respect to the base, which appears to be a big improvement over the standard Gough/Stewart platform. Experimental results from the Ohio University manipulator are presented.