Generalized Stewart Platforms and their Direct Kinematics
نویسندگان
چکیده
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 generalized Stewart platforms which could provide more practical six DOF parallel manipulators. We show that by using combinations of various joints, all these GSPs can be realized as real mechanisms. We give the upper bounds for the number of solutions of the direct kinematics for all the generalized Stewart platforms. We also obtain analytical solutions and the best upper bounds of real solutions of the direct kinematics for a class of 1120 generalized Stewart platforms.
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