The determination of nonconvex workspaces of generally constrained planar stewart platforms
نویسندگان
چکیده
منابع مشابه
Types of self-motions of planar Stewart Gough platforms
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...
متن کاملA remarkable set of Schönflies-singular planar Stewart Gough platforms
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...
متن کاملSelf-motions of planar projective Stewart Gough platforms
In this paper, we study self-motions of non-architecturally singular parallel manipulators of Stewart Gough type, where the planar platform and the planar base are related by a projectivity. By using mainly geometric arguments, we show that these manipulators have either so-called elliptic self-motions or pure translational self-motions. In the latter case, the projectivity has to be an affinit...
متن کاملSpecial 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...
متن کاملOn Elliptic Self-motions of Planar Projective Stewart Gough Platforms
It has been previously shown that non-architecturally singular parallel manipulators of Stewart Gough type, where the planar platform and the planar base are related by a projectivity, have either so-called elliptic self-motions or pure translational self-motions. As the geometry of all manipulators with translational selfmotions is already known, we focus on elliptic self-motions. We show that...
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ژورنال
عنوان ژورنال: Computers & Mathematics with Applications
سال: 2000
ISSN: 0898-1221
DOI: 10.1016/s0898-1221(00)85015-4