Classification of Direct Kinematics to 3D3A Generalized Stewart Platform with Equilateral Triangle Platforms

DOI

10.2991/acaai-18.2018.62How to use a DOI?

Keywords

parallel linkages; direct kinematics; generalized Stewart platform; symbolic computation; Wu-Ritt characteristic set method

Abstract

Generalized Stewart Platform is the extended form of Stewart platform of parallel linkages, which is two rigid bodies connected with six constraints. The classification of direct kinematics to 3D3A generalized Stewart platform with equilateral triangle platforms based on symbolic computation is presented. The explicit conditions of the parameters for the generalized Stewart platforms to have a given number of real solutions are given while imposing three angular constraints and three distance constraints in sequence. The appropriate parameters can be selected according to the conditions of the parameters, such that the number of real solutions specified can be obtained.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Jiawen Zhang
AU  - Guifang Zhang
PY  - 2018/03
DA  - 2018/03
TI  - Classification of Direct Kinematics to 3D3A Generalized Stewart Platform with Equilateral Triangle Platforms
BT  - Proceedings of the 2018 International Conference on Advanced Control, Automation and Artificial Intelligence (ACAAI 2018)
PB  - Atlantis Press
SP  - 265
EP  - 269
SN  - 1951-6851
UR  - https://doi.org/10.2991/acaai-18.2018.62
DO  - 10.2991/acaai-18.2018.62
ID  - Zhang2018/03
ER  -