Publication
The forward kinematics of doubly-planar Gough-Stewart platforms and the position analysis of strips of tetrahedra
Conference Article
Conference
International Symposium on Advances in Robot Kinematics (ARK)
Edition
16th
Pages
124-132
Doc link
https://doi.org/10.1007/978-3-319-93188-3_15
File
Abstract
A strip of tetrahedra is a tetrahedron-tetrahedron truss where any tetrahedron has two neighbors except those in the extremes which have only one. The problem of finding all the possible lengths for an edge in the strip compatible with a given distance imposed between the strip end-points has been revealed of relevance due to the large number of possible applications. In this paper, this is applied to solve the forward kinematics of 6-6 Gough-Stewart platforms with planar base and moving platform, a problem which is known to have up to 40 solutions (20 if we do not consider mirror configurations with respect to the base as different solutions).
Categories
robots.
Author keywords
Position analysis, Closed-form solutions, Distance Geometry, Gough-Stewart platform
Scientific reference
J.M. Porta and F. Thomas. The forward kinematics of doubly-planar Gough-Stewart platforms and the position analysis of strips of tetrahedra, 16th International Symposium on Advances in Robot Kinematics, 2018, Bologna, Italy, in Advances in Robot Kinematics 2018, Vol 8 of Springer Proceedings in Advanced Robotics, pp. 124-132, 2019.
Follow us!