Title :
The (true) Stewart platform has 12 configurations
Author :
Lazard, Daniel ; Merlet, Jean-Pierre
Author_Institution :
LITP, Inst. Blaise Pascal, Paris, France
Abstract :
We consider a Stewart platform and show that its forward kinematics has at most 12 solutions. A first geometrical demonstration is provided which uses the concept of circularity and in a second proof we show that this problem is equivalent to find a system of two planar parallel manipulators with each 6 solutions to the forward kinematic problem. A geometrical construction is provided to construct such a system and a Stewart platform with 12 configurations is exhibited
Keywords :
robot kinematics; Stewart platform; circularity; forward kinematics; geometry; planar parallel manipulator pair; robot; Aerospace simulation; Art; H infinity control; Hydraulic actuators; Kinematics; Polynomials; Solid modeling;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.350969
