Generalized Stewart-Gough platforms and their direct kinematics

doi:10.1109/TRO.2004.835456

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	Generalized Stewart-Gough platforms and their direct kinematics
	Gao, XS ; Lei, DL ; Liao, QZ ; Zhang, GF
	2005-04-01
发表期刊	IEEE TRANSACTIONS ON ROBOTICS
ISSN	1552-3098
卷号	21 期号:2 页码:141-151
摘要	In this paper, we introduce the generalized Stewart-Gough platform (GSP). consisting of two rigid bodies connected with six distance and/or angular constraints between six pairs of points, lines, and/or planes in the base and the moving platform, respectively. We prove that there exist 3850 possible forms of GSPs. We give the upper bounds for the number of solutions of the direct kinematics for all the GSPs. We also obtain closed-form solutions and the best upper bounds of real solutions of the direct kinematics for a class of 1120 GSPs.
关键词	closed-form solution decoupled mechanisms direct kinematics generalized Stewart-Gough platform (GSP) parallel manipulator
DOI	10.1109/TRO.2004.835456
语种	英语
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000228337900001
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/1667
专题	中国科学院数学与系统科学研究院
通讯作者	Gao, XS
作者单位	1.Acad Sinica, AMSS, Inst Syst Sci, Key Lab Math Mechanizat, Beijing 100080, Peoples R China 2.Beijing Univ Posts & Telecommun, Sch Automat, Beijing 100876, Peoples R China 3.Tsinghua Univ, Dept Comp Sci, Beijing 100080, Peoples R China
推荐引用方式 GB/T 7714	Gao, XS,Lei, DL,Liao, QZ,et al. Generalized Stewart-Gough platforms and their direct kinematics[J]. IEEE TRANSACTIONS ON ROBOTICS,2005,21(2):141-151.
APA	Gao, XS,Lei, DL,Liao, QZ,&Zhang, GF.(2005).Generalized Stewart-Gough platforms and their direct kinematics.IEEE TRANSACTIONS ON ROBOTICS,21(2),141-151.
MLA	Gao, XS,et al."Generalized Stewart-Gough platforms and their direct kinematics".IEEE TRANSACTIONS ON ROBOTICS 21.2(2005):141-151.