Exceptional Stewart--Gough Platforms, Segre Embeddings, and the Special Euclidean Group
نویسندگان
چکیده
منابع مشابه
Special cases of Schönflies-singular planar Stewart Gough platforms
Parallel manipulators which are singular with respect to the Schönflies motion group X(a) are called Schönflies-singular, or more precisely X(a)-singular, where a denotes the rotary axis. A special class of such manipulators are architecturally singular ones because they are singular with respect to any Schönflies group. Another remarkable set of Schönflies-singular planar parallel manipulators...
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This paper describes a method to solve the direct kinematics of a generic Stewart-Gough manipulators. The method is formulated in terms of a search in the space of rigid body transformations. The underlying idea is that the solutions of the direct kinematics can be obtained by moving the end-effector body according rotations and translations and accounting for the rigidity conditions. The paper...
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Development of methods to design optimal Gough–Stewart platform geometries capable of meeting desired specifications is of high interest. Computationally intensive methods have been used to treat this problem in various settings. This paper uses analytic methods to characterize all orthogonal Gough–Stewart platforms (OGSPs) and to study their properties over a small workspace. This characteriza...
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This paper deals with a class of parallel mechanisms, called Gough-Stewart platforms. For these mechanisms, pre-loaded by driving forces, the stiffness matrix is derived and its basic properties are established. It is shown when the stiffness matrix becomes asymmetric, how the parametric imbalance may influence the system stability, and how the center of stiffness depends on the force pre-loadi...
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The closed-loop nature of the Gough-Stewart platform generates complex singular configurations inside the workspace and makes its workspace smaller compared to the serial mechanism. It is desirable to obtain a non-singular workspace based on describing the constraint workspace and representing the singularities inside the constraint workspace. Some algorithms have been proposed by researchers t...
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ژورنال
عنوان ژورنال: SIAM Journal on Applied Algebra and Geometry
سال: 2018
ISSN: 2470-6566
DOI: 10.1137/17m1114284