Analysis of Two-Radii Gough-Stewart Platform: Kinematics, Isotropy and Dynamics using Multibody Dynamics Methodology

Analysis of Two-Radii Gough-Stewart Platform: Kinematics, Isotropy and Dynamics using Multibody Dynamics Methodology | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Analysis of Two-Radii Gough-Stewart Platform: Kinematics, Isotropy and Dynamics using Multibody Dynamics Methodology Koichi Koganezawa, Azamat Yeshmukhametov This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-9110443/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 10 You are reading this latest preprint version Abstract The paper deals with a well-known Gough Stewart Platform (GSP) that has a robust mechanical structure with some closed linkages. This paper is shed light on solving GSP’s kinematics and dynamics by using some numerical methods traditionally used in the field of multi-body academic society, such as the extended mass/inertia matrix including constraint equations and modified Lagrange coefficients. It follows to shows some simulation results of dynamic motions using a simple feedback controller. Typical GSP provides translations of its moving plate along three axes and its rotations about three axes as well (total six DOFs) with much precision. One problem is how evenly provides these three translations and rotations in force translation with a given structural arrangement. It is called isotropic trait in motion. The paper proposes a measure of isotropy for translation and rotation. It quantitatively evaluates a test GSP machine now we are on developing being much more isotropic than the GSP having conventional deployment of struts. Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Under Review Version 1 posted Reviews received at journal 28 Apr, 2026 Reviews received at journal 26 Apr, 2026 Reviewers agreed at journal 14 Apr, 2026 Reviewers agreed at journal 09 Apr, 2026 Reviewers agreed at journal 08 Apr, 2026 Reviewers agreed at journal 06 Apr, 2026 Reviewers invited by journal 06 Apr, 2026 Editor assigned by journal 19 Mar, 2026 Submission checks completed at journal 14 Mar, 2026 First submitted to journal 13 Mar, 2026 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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