Proceedings of the 2018 International Conference on Advanced Control, Automation and Artificial Intelligence (ACAAI 2018)

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

Authors
Jiawen Zhang, Guifang Zhang
Corresponding Author
Jiawen Zhang
Available Online March 2018.
DOI
https://doi.org/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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Volume Title
Proceedings of the 2018 International Conference on Advanced Control, Automation and Artificial Intelligence (ACAAI 2018)
Series
Advances in Intelligent Systems Research
Publication Date
March 2018
ISBN
978-94-6252-483-5
ISSN
1951-6851
DOI
https://doi.org/10.2991/acaai-18.2018.62How to use a DOI?
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/).

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  - https://doi.org/10.2991/acaai-18.2018.62
ID  - Zhang2018/03
ER  -