Introducing the theory of bonds for Stewart Gough platforms with self-motions0
نویسنده
چکیده
We transfer the basic idea of bonds, introduced by Hegedüs, Schicho and Schröcker for overconstrained closed chains with rotational joints, to the theory of self-motions of parallel manipulators of Stewart Gough type. Moreover we present some basic facts and results on bonds and demonstrate the potential of this theory on the basis of several examples. As a by-product we give a geometric characterization of all SG platforms with a pure translational self-motion and of all spherical 3-dof RPR manipulators with self-motions.
منابع مشابه
On equiform Stewart Gough platforms with self-motions
A STEWART GOUGH (SG) manipulator, where the platform is similar to the base, is called equiform SG manipulator. It is well known that these SG manipulators with planar platform and planar base only have self-motions, if they are architecturally singular; i.e. the anchor points are located on a conic section. Therefore this study focuses on the non-planar case. We prove that an equiform SG manip...
متن کاملPlanar Stewart Gough platforms with a type II DM self-motion
Due to previous publications of the author, it is already known that one-parametric self-motions of general planar Stewart Gough platforms can be classified into two so-called Darboux Mannheim (DM) types (I and II). Moreover, the author also proved the necessity of three conditions for obtaining a type II DM self-motion. Based on this result we determine in the article at hand, all general plan...
متن کاملTypes 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 کاملReview and recent results on Stewart Gough platforms with self-motions
In Section 1, we give a review on Stewart Gough (SG) platforms with self-motions and the related Borel Bricard problem. Moreover, in Section 2, we report about recent results achieved by the author on this topic (SG platforms with type II DM self-motions). In context of these results, we also present two new theorems in Section 3, which open the way for addressed future work. In Section 4, we g...
متن کاملNon-existence of planar projective Stewart Gough platforms with elliptic self-motions
In this paper, we close the study on the self-motional behavior of nonarchitecturally singular parallel manipulators of Stewart Gough (SG) type, where the planar platform and the planar base are related by a projectivity κ , by showing that planar projective SG platforms with elliptic self-motions do not exist. The proof of this result demonstrates the power of geometric and computational inter...
متن کامل