On the kinematic of a 3-DOF Stewart platform

被引：0
作者：
Bürüncük, K
Tokad, Y
机构：
[1] Eastern Mediterranean Univ, Dept Elect & Elect Engn, Mersin 10, Turkey
[2] Isik Univ Maslak, Dept Elect Engn, TR-80670 Istanbul, Turkey
来源：
JOURNAL OF ROBOTIC SYSTEMS | 1999年 / 16卷 / 02期
关键词：
D O I：
10.1002/(SICI)1097-4563(199902)16:2<105::AID-ROB4>3.0.CO;2-Z
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The kinematic behavior of the Stewart platform has been discussed in the literature by many researchers. In the present article, a special form of the Stewart platform, namely, the 3-degrees of freedom platform with triangular shaped base and upper platforms, is considered by thoroughly deriving a new set of constraint equations which makes it possible to discover several new properties of the platform. Both the inverse and direct kinematic problems are discussed and a new approach for solution of the direct kinematic problem is described which gives all the real (physical) solutions. (C) 1999 John Wiley & Sons, Inc.
引用
收藏
页码：105 / 118
页数：14
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