Forward Kinematic Calculation of Stewart Platform Manipulator.
نویسندگان
چکیده
منابع مشابه
Kinematic evaluation and forward kinematic problem for Stewart platform based manipulators
In this paper two methods are presented. The first is a kinematic evaluation method for two different hexapod structures: standard Stewart platform manipulator with extensible struts and second structure with fixed strut lengths but sliding guideways on fixed platform. The second method addresses the forward kinematic problem where different mathematical representations are combined with variou...
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The Stewart platform is a six-axis parallel robot manipulator with a force-to-weight ratio and positioning accuracy far exceeding that of a conventional serial-link arm. Its stiffness and accuracy approach that of a machine tool yet its workspace dexterity approaches that of a conventional manipulator. In this article, we study the dynamic equations of the Stewart platform manipulator. Our deri...
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In this article, we propose a vision-based kinematic calibration algorithm for Stewart-Gough parallel structures. Information on the position and orientation of the mechanism legs is extracted from the observation of these kinematic elements with a standard camera. No workspace limitation, nor installation of additional proprioceptive sensors are required. The algorithm is composed of two steps...
متن کاملTask-Based Optimal Design of a Stewart-Platform Manipulator: a New Rolling Mill
In this paper, a kinematic optimal design of a new parallel-type rolling mill based upon Stewart platform manipulator is investigated. The objective of this new parallel-type rolling mill is to permit an integrated control of the strip thickness, strip shape, pair crossing angle, uniform wear of the rolls, and tension of the strip. A manipulability measure, as the ratio of the manipulability el...
متن کاملA study of a Gough-Stewart platform-based manipulator for applications in biomechanical testing
........................................................................................................................ I Statement of Originality ............................................................................................. V Acknowledgement .................................................................................................... VII Table of
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1993
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.11.849