Classification of direct kinematics to planar generalized Stewart platforms

被引：5
|
作者：
Zhang, Gui-Fang [1 ]
机构：
[1] Beijing Forestry Univ, Coll Sci, Beijing 100083, Peoples R China
来源：
COMPUTATIONAL GEOMETRY-THEORY AND APPLICATIONS | 2012年 / 45卷 / 08期
关键词：
Geometric constraint solving; Parallel robotics; Planar generalized Stewart platform; Direct kinematics; Closed-form solution;
D O I：
10.1016/j.comgeo.2010.06.007
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
This paper presents the classification of direct kinematics for the planar generalized Stewart platform (GSP) which consists of two rigid bodies connected by three constraints between three pairs of points or lines in the base and the moving platforms. For each of the sixteen forms of planar GSPs, we give the explicit conditions on the parameters for the GSPs to have a given number of real solutions. (C) 2012 Elsevier B.V. All rights reserved.
引用
收藏
页码：458 / 473
页数：16
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