Planar generalized Stewart platforms and their direct kinematics

被引:0
|
作者
Zhang, GF [1 ]
Gao, XS
机构
[1] Beijing Forestry Univ, Sch Sci, Beijing 100083, Peoples R China
[2] Acad Sinica, AMSS, Inst Syst Sci, Key Lab Math Mechanizat, Beijing 100080, Peoples R China
来源
关键词
planar generalized Stewart platform; geometric constraint solving; direct kinematics; closed-form solution;
D O I
暂无
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
In this paper, we introduce the concept of planar generalized Stewart platform (GSP) consisting of two rigid bodies connected with three constraints between three pairs of geometric primitives in the two rigid bodies respectively. This problem can be treated as a special but important class of geometric constraint solving problems. We show that there exist sixteen forms of planar GSPs. We also obtain the closed-form solutions of the direct kinematics for the planar GSPs, For a class of GSPs with two distance and one angular constraints, we may give pure geometric solutions based on ruler and compass constructions.
引用
收藏
页码:198 / 211
页数:14
相关论文
共 50 条
  • [1] Classification of direct kinematics to planar generalized Stewart platforms
    Zhang, Gui-Fang
    [J]. COMPUTATIONAL GEOMETRY-THEORY AND APPLICATIONS, 2012, 45 (08): : 458 - 473
  • [2] Strategies on Direct Kinematics to Generalized Stewart Platforms
    Zhang, Gui-fang
    Zhang, Jia-wen
    Zhao, Li-na
    [J]. 2016 INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING AND AUTOMATION (ICEEA 2016), 2016,
  • [3] Generalized Stewart-Gough platforms and their direct kinematics
    Gao, XS
    Lei, DL
    Liao, QZ
    Zhang, GF
    [J]. IEEE TRANSACTIONS ON ROBOTICS, 2005, 21 (02) : 141 - 151
  • [4] A novel approach in the direct kinematics of Stewart platform mechanisms with planar platforms
    Akçali, ID
    Mutlu, H
    [J]. JOURNAL OF MECHANICAL DESIGN, 2006, 128 (01) : 252 - 263
  • [5] Classification of Direct Kinematics to 3D3A Generalized Stewart Platform with Equilateral Triangle Platforms
    Zhang, Jiawen
    Zhang, Guifang
    [J]. PROCEEDINGS OF THE 2018 INTERNATIONAL CONFERENCE ON ADVANCED CONTROL, AUTOMATION AND ARTIFICIAL INTELLIGENCE (ACAAI 2018), 2018, 155 : 265 - 269
  • [6] An algorithm for solving the direct kinematics of general Stewart-Gough platforms
    Husty, ML
    [J]. MECHANISM AND MACHINE THEORY, 1996, 31 (04) : 365 - 379
  • [7] A direct numerical solution to forward kinematics of general Stewart-Gough platforms
    Wang, Yunfeng
    [J]. ROBOTICA, 2007, 25 : 121 - 128
  • [8] DIRECT POSITION KINEMATICS OF THE 3-1-1-1-STEWART PLATFORMS
    HUSSAIN, M
    WALDRON, KJ
    [J]. JOURNAL OF MECHANICAL DESIGN, 1994, 116 (04) : 1102 - 1107
  • [9] The Forward Kinematics of Doubly-Planar Gough-Stewart Platforms and the Position Analysis of Strips of Tetrahedra
    Porta, Josep M.
    Thomas, Federico
    [J]. ADVANCES IN ROBOT KINEMATICS 2018, 2019, 8 : 124 - 132
  • [10] Direct kinematics of Stewart mechanism robot
    Zhuang, Yufeng
    Huang, Xiguang
    Liao, Qizheng
    [J]. Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics, 2009, 35 (01): : 48 - 51