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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
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 | ||||||||||
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| Subjects: | Q Science > QA Mathematics T Technology > TJ Mechanical engineering and machinery T Technology > TS Manufactures |
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| Divisions: | Faculty of Science > Mathematics Faculty of Science > WMG (Formerly the Warwick Manufacturing Group) |
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| 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: |
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| Date of first compliant deposit: | 1 February 2016 | ||||||||||
| 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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