DIRECT KINEMATIC SOLUTION OF A STEWART PLATFORM

被引：238
|
作者：
NANUA, P
WALDRON, KJ
MURTHY, V
机构：
[1] Department of Mechanical Engineering, Ohio State University, Columbus
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1990年 / 6卷 / 04期
关键词：
Robots;
D O I：
10.1109/70.59354
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The Stewart platform is a fully parallel, six-degree-of-freedom manipulator mechanism. Although its inverse kinematics have been extensively studied, no solutions to the direct position kinematics problem have been previously presented in the literature. Here, a solution of the direct kinematics problem of the case in which the six limbs form three concurrent pairs at either the base or the “hand” member is presented. Even though it is not the most general possible configuration, this case does include many arrangements that have been used in practical robot mechanisms. © 1990 IEEE
引用
收藏
页码：438 / 444
页数：7
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