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Mathematical principles for the design of isostatic mount systems for dynamic structures

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Thornby, John Albert, MacKay, Robert S. and Williams, M. A. (2015) Mathematical principles for the design of isostatic mount systems for dynamic structures. IMA Journal of Applied Mathematics, 80 (6). pp. 1837-1854. doi:10.1093/imamat/hxv020

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Official URL: http://dx.doi.org/10.1093/imamat/hxv020

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Abstract

Isostatic mounts are used in applications like telescopes and robotics to move and hold part of a structure in a desired pose relative to the rest, by driving some controls rather than driving the subsystem directly. To achieve this successfully requires an understanding of the structure of the coupled space of configurations and controls, and of the singularities of the mapping from the coupled space to the space of controls. It is crucial to avoid such singularities because generically they lead to large constraint forces and internal stresses which can cause distortion. In this paper we outline design principles for isostatic mount systems for dynamic structures, with particular emphasis on robots.

Item Type: Journal Article
Subjects: Q Science > QA Mathematics
T Technology > TJ Mechanical engineering and machinery
T Technology > TS Manufactures
Divisions: Faculty of Science, Engineering and Medicine > Science > Mathematics
Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group)
Library of Congress Subject Headings (LCSH): Mirrors , Telescopes , Space vehicles -- Technological innovations, Vibration (Aeronautics) -- Damping, Engineering mathematics
Journal or Publication Title: IMA Journal of Applied Mathematics
Publisher: Oxford University Press
ISSN: 0272-4960
Official Date: December 2015
Dates:
DateEvent
December 2015Published
14 July 2015Available
23 June 2015Accepted
31 March 2014Submitted
Volume: 80
Number: 6
Number of Pages: 18
Page Range: pp. 1837-1854
DOI: 10.1093/imamat/hxv020
Status: Peer Reviewed
Publication Status: Published
Access rights to Published version: Restricted or Subscription Access
Funder: Technology Strategy Board (Great Britain), Nikon Metrology (Firm)
Grant number: RMAAA3054, ‘Coordinate Measuring Robot’

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