Generalized Stewart-Gough platforms and their direct kinematics

被引：88
作者：
Gao, XS [1 ]
Lei, DL
Liao, QZ
Zhang, GF
机构：
[1] Acad Sinica, AMSS, Inst Syst Sci, Key Lab Math Mechanizat, Beijing 100080, Peoples R China
[2] Beijing Univ Posts & Telecommun, Sch Automat, Beijing 100876, Peoples R China
[3] Tsinghua Univ, Dept Comp Sci, Beijing 100080, Peoples R China
来源：
IEEE TRANSACTIONS ON ROBOTICS | 2005年 / 21卷 / 02期
基金：
美国国家科学基金会;
关键词：
closed-form solution; decoupled mechanisms; direct kinematics; generalized Stewart-Gough platform (GSP); parallel manipulator;
D O I：
10.1109/TRO.2004.835456
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：141 / 151
页数：11
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