Strategies on Direct Kinematics to Generalized Stewart Platforms
| Autor: | Jia-wen Zhang, Li-na Zhao, Gui-fang Zhang |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
Computer Science::Computer Science and Game Theory
Computer science Mathematics::Number Theory Stewart platform Control engineering Graph theory Linkage (mechanical) Kinematics Symbolic computation Base (topology) law.invention Computational science Computer Science::Robotics law Parallel robotics Geometric primitive Mathematics::Representation Theory |
| Zdroj: | DEStech Transactions on Engineering and Technology Research. |
| ISSN: | 2475-885X |
| DOI: | 10.12783/dtetr/iceea2016/6699 |
| Popis: | Stewart platform is a parallel linkage, which is widely used in the area of parallel robotics. Generalized Stewart Platform (GSP) consists of two rigid bodies connected with six constraints between six pairs of geometric primitives in the base and the moving platform respectively. Direct kinematics to GSP is to determine the pose of moving platform according to six constraints between the base and the moving platform. Strategies on direct kinematics to GSP were presented, which were based on graph theory and symbolic computation method. A GSP can be decomposed into smaller ones if possible, and the corresponding parameters conditions of real solutions to direct kinematics to the GSP can be obtained according to these strategies. |
| Databáze: | OpenAIRE |
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