Congruent Stewart Gough platforms with non-translational self-motions
نویسنده
چکیده
A parallel manipulator of STEWART GOUGH (SG) type consists of a platform and a base, which are connected via six spherical-prismatic-spherical legs, where all prismatic joint are active (actuated) and all spherical joints are passive (non-actuated). If we fix the prismatic joints, the SG platform is generically rigid, but under particular geometric conditions the manipulator can perform a n-dimensional motion (n > 0), which is called self-motion.
منابع مشابه
On equiform Stewart Gough platforms with self-motions
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