Kinematic-Sensitivity Indices for Double Gough-Stewart Platform

Many indices have been introduced to optimize the architecture of a redundant robot, which is determinant in redundancy resolution of the robot. There are several ways to compute kinematic-sensitivity for dimensionally homogeneous and nonhomogeneous Jacobian matrices. The natural consequence is to use two indices that represent the kinematic-sensitivity for rotation and point-displacement, as they have been proposed by other researchers. In this paper, we compute maximum rotation and maximum displacement of end-effector of a double Gough-Stewart platform, which has a dimensionally non-homogenous Jacobian matrix, under a unit-magnitude array of actuated joint displacement.