Design principles for isostatic mount systems for dynamic structures (Coffee and cake Maths Inst Common Room 05:15 - meet SIAM)
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Thu, 13/10/2011 16:00 |
Robert Mackay (University of Warwick) |
Differential Equations and Applications Seminar  |
DH 1st floor SR |
| 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 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. | |||