Self-Motions of 6-3 Stewart-Gough Type Parallel Manipulators

被引：3
|
作者：
Karger, Adolf [1 ]
机构：
[1] Charles Univ Prague, Fac Math & Phys, Prague, Czech Republic
来源：
ADVANCES IN ROBOT KINEMATICS: MOTION IN MAN AND MACHINE | 2010年
关键词：
Parallel manipulators; self-motions; Borel-Bricard motions; PLATFORMS;
D O I：
10.1007/978-90-481-9262-5_38
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In the paper we show that every 6-3 Stewart-Gough (SG) platform has self-motions. This yields an example of self-motions for a class of SG platforms which are not architecturally singular. We present three types of self-motions, general self-motion if the platform is in some sense congruent to the base, a butterfly type self motion and a spherical four-bar mechanism self-motion. For the last two cases there is no restriction for the geometry of the platform. We believe that this yields all possible self motions of the 6-3 platform. but we are not able to give the proof, corresponding equations are too complex.
引用
收藏
页码：359 / 366
页数：8
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