Investigation of a Special 6-6 Parallel Platform for Contour Milling

[+] Author and Article Information
W. A. Abbasi

S. C. Ridgeway, P. D. Adsit, C. D. Crane, J. Duffy

Center for Intelligent Machines & Robotics, 300 MEB, University of Florida, Gainesville, FL 32611

J. Manuf. Sci. Eng 122(1), 132-139 (Jan 01, 1998) (8 pages) doi:10.1115/1.538927 History: Received January 01, 1997; Revised January 01, 1998
Copyright © 2000 by ASME
Your Session has timed out. Please sign back in to continue.


Kohl,  Ronald, 1994, “A Machine Tool Built from Mathematics,” Am. Machinist, October, pp. 52–55.
Fitzgerald,  J. M., 1993, “Evaluating the Stewart Platform for Manufacturing,” Robot. Today, SME, 6, No. 1, pp. 1–3.
Griffis,  M., and Duffy,  J., 1989, “A Forward Displacement Analysis of a Class of Stewart Platforms,” J. Robotic Syst., 6, No. 6, pp. 703–729.
Stewart,  D., 1965, “A Platform with Six Degrees of Freedom,” Proc. Inst. Mech. Eng., London, 180, pp. 371–386.
Raghavan,  M., 1993, “The Stewart Platform of General Geometry has 40 Configurations,” J. Mech. Design, 115, pp. 277–282.
Griffis, M., and Duffy, J., “Method and Apparatus for Controlling Geometrically Simple Parallel Mechanisms with Distinctive Connections,” US Patent No. 5,179,525, January 12, 1993.
Griffis, M., and Duffy, J., 1990, “On a General Method of Spatial Stiffness,” VIII CISM-IFToMM Symposium Ro. Man. Sy’90, Crakow, Poland, July 1990.
Griffis,  M., and Duffy,  J., 1991, “Kinestatic Control Theory: A Novel Theory for Simultaneously Regulating Force and Displacement,” ASME J. Mech. Des., 113, pp. 508–515.
Baiges, I., and Duffy, J., 1996, “Dynamic Modeling of Parallel Manipulators,” Proceedings of the 1996 ASME Design Engineering Technical Conferences and CIE Conference.


Grahic Jump Location
Two Implementations of the Kinestatic Platform as applied to contour milling
Grahic Jump Location
Geometric configuration of the base and top of platform
Grahic Jump Location
Design parameters and associated values for the platform
Grahic Jump Location
View of the Joint and Sensor attachments
Grahic Jump Location
(a) Step response using a Proportional controller with high feedback gain. (b) Step response using a Proportional controller with low feedback gain.  
Grahic Jump Location
Step response using a PID controller  
Grahic Jump Location
Tracking errors for a constant velocity extension of 0.5 in./sec




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In