Stewart-Gough Platforms: the potential of 6-DOF parallel mechanisms in architecture and engineering

Günther H. Filz, Juan Manuel Garcia-Guerrero, Juan José Jorquera-Lucerga

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Abstract

A Stewart-Gough platform (SGP) is a six degree-of-freedom (DOF) parallel mechanism, initially introduced by Gough and Stewart to animate flight simulator platforms. In common use an SGP consists of a mobile rigid platform, which is connected to a fixed base by six articulated legs in a regular (isosceles) constellation. Each leg is connected to the platforms by universal joints. According to Husty[1] the most interesting question concerning SGPs is to find the pose of the platform frame at given base points, platforms and leg- lengths. This question can be solved by direct kinematics of the SGP and it is used in areas such as robotics, virtual reality or 3D printing.
Recently, the interest in the application of these platforms to other fields, such as construction or architecture (see Filz [2]; Filz and Naicu [3]), has grown, encouraged by their capabilities of generating novel forms in an (seemingly) unlimited design space and huge potential for new functional relationships and visual findings. However, simultaneously, these new forms lead also to new structural requirements regarding functionality, stiffness or, obviously, failure. Thus, both architectural and structural requirements define an iterative process in which geometry becomes the common space where architecture and structural engineering meet.
In this paper, the authors would like to show their preliminary studies about the capability of Stewart-Gough platforms, especially regarding aspects such as mobility, stability or functionality of the configurations that can be generated. Even though path planning that involve storing the entire reachable workspace in memory at high resolutions is not feasible (Au et.al.) due to the six-dimensional workspace, this paper will look into the fundamental principles of how to generate a wide range of constellations for stable configurations. So, the exploration of potentials of this type of structures in architecture and civil engineering will provide the basis for future investigations and applications.
Original languageEnglish
Title of host publicationForm and Force
Subtitle of host publicationProceedings of the Annual Symposium of the International Association for Shell and Spatial Structures
PublisherIASS
Number of pages8
Publication statusPublished - Oct 2019
MoE publication typeA4 Article in a conference publication
EventAnnual Symposium of the International Association for Shell and Spatial Structures
- Crowne Plaza Hotel, Barcelona, Spain
Duration: 7 Oct 201910 Oct 2019
Conference number: 60
https://iass-structures.org/event-2791848

Publication series

NameProceedings of the IASS Annual Symposia
PublisherIASS
ISSN (Electronic)2518-6582

Conference

ConferenceAnnual Symposium of the International Association for Shell and Spatial Structures
Abbreviated titleIASS
Country/TerritorySpain
CityBarcelona
Period07/10/201910/10/2019
Internet address

Keywords

  • active bending
  • structural membrane
  • Minimal surfaces
  • experimental structure
  • geometric non-linearity
  • FEM
  • large deformations

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