Title :
Generalized Stewart-Gough platforms and their direct kinematics
Author :
Gao, Xiao-shan ; Lei, Deli ; Liao, Qizheng ; Zhang, Gui-Fang
Author_Institution :
Key Lab. of Math. Mechanization, Acad. Sinica, Beijing, China
fDate :
4/1/2005 12:00:00 AM
Abstract :
In this paper, we introduce the generalized Stewart-Gough platform (GSP) consisting of two rigid bodies connected with six distance and/or angular constraints between six pairs of points, lines, and/or planes in the base and the moving platform, respectively. We prove that there exist 3850 possible forms of GSPs. We give the upper bounds for the number of solutions of the direct kinematics for all the GSPs. We also obtain closed-form solutions and the best upper bounds of real solutions of the direct kinematics for a class of 1120 GSPs.
Keywords :
manipulator kinematics; angular constraint; closed-form solutions; direct kinematics; distance constraint; generalized Stewart-Gough platforms; rigid bodies; upper bounds; Aerospace simulation; Closed-form solution; Helium; Kinematics; Laboratories; Leg; Mathematics; Testing; Tires; Upper bound; Closed-form solution; decoupled mechanisms; direct kinematics; generalized Stewart–Gough platform (GSP); parallel manipulator;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2004.835456
