Analytical Stiffness Optimization of High-Precision Hexapods for Large Optical Telescope Applications

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceeding


An analytical stiffness and eigenfrequency model of symmetric parallel 6-6 Stewart
platforms (hexapods) is developed based on geometrical design variables to optimize the
dynamical performance. The model is based upon Lagrangean dynamics in which the Bryant
angles are used for the kinematics formulation. With the analytical eigenfrequency model,
optimum stiffness characteristics can be obtained for any industrial application with limited
workspace such as optical collimation systems. The actuator length-flexibility dependency is
also considered in the analytical model. It is proposed that to increase the actuation bandwidth
in six degrees of freedom, an eigenfrequency cost function can be defined and optimized.


External organisations
  • External Organization - Unknown
Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Applied Mechanics


  • Gough Stewart platform, hexapod, analytical, stiffness, eigenfrequency, telescope
Original languageEnglish
Title of host publicationProceedings of the 25th Nordic seminar on computational mechanics
EditorsK. Persson, G. Sandberg, M. Wallin
Publication statusPublished - 2012
Publication categoryResearch
Externally publishedYes
Event25th Nordic Seminar on Computational Mechanics, 2012 - Lund, Lund, Sweden
Duration: 2012 Oct 252012 Oct 26
Conference number: 25


Conference25th Nordic Seminar on Computational Mechanics, 2012
Abbreviated titleNSCM