Classification of Direct Kinematics to 3D3A Generalized Stewart Platform with Equilateral Triangle Platforms
- 10.2991/acaai-18.2018.62How to use a DOI?
- parallel linkages; direct kinematics; generalized Stewart platform; symbolic computation; Wu-Ritt characteristic set method
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.
- © 2018, the Authors. Published by Atlantis Press.
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- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
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 -