Classification of direct kinematics to planar generalized Stewart platforms
نویسندگان
چکیده
منابع مشابه
Planar Generalized Stewart Platforms and Their Direct Kinematics
In this paper, we introduce the concept of planar generalized Stewart platform (GSP) consisting of two rigid bodies connected with three constraints between three pairs of geometric primitives in the two rigid bodies respectively. This problem can be treated as a special but important class of geometric constraint solving problems. We show that there exist sixteen forms of planar GSPs. We also ...
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In this paper, we introduce the generalized Stewart platform consisting of two rigid bodies connected with six distance and/or angular constraints between six pairs of points, lines and/or planes in the base and moving platform respectively, which could be considered as the most general form of parallel manipulators with six DOF in certain sense. We prove that there exist 3850 possible forms of...
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With this talk, which is based on reference [1], we want to continue the series of contributions about selfmotions of Stewart Gough platforms given by Karger [2, 3] in the previous conferences on geometry – theory and applications, held in Vorau 2007 and Plzen 2009. We show that the self-motions of the general planar Stewart Gough platforms can be characterized in the complex extension of the E...
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We present a set of planar parallel manipulators of Stewart Gough type which are singular with respect to the Schönflies group X(a) without being architecturally singular. This set of so called Schönflies-singular planar parallel manipulators is characterized by the property that the carrier plane of the platform or of the base anchor points is orthogonal to the rotational axis a of the Schönfl...
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Conditions for the workspace of tendon-driven Stewart platform manipulators are given. For a general 2dof planar manipulator, these criteria are calculated analytically and illustrated graphically. The methods are developed such that they may be generalized, for mechanisms with more dofs. INTRODUCTION State of the Art Theory and applications of Stewart platforms (Fig. 1) have been widely examin...
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ژورنال
عنوان ژورنال: Computational Geometry
سال: 2012
ISSN: 0925-7721
DOI: 10.1016/j.comgeo.2010.06.007