Planar generalized Stewart platforms and their direct kinematics

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	Planar generalized Stewart platforms and their direct kinematics
	Zhang, GF ; Gao, XS
	2006
发表期刊	AUTOMATED DEDUCTION IN GEOMETRY
ISSN	0302-9743
卷号	3763 页码:198-211
摘要	In this paper, we introduce the concept of planar generalized Stewart platform (GSP) consisting of two rigid bodies connected with three constraints between three pairs of geometric primitives in the two rigid bodies respectively. This problem can be treated as a special but important class of geometric constraint solving problems. We show that there exist sixteen forms of planar GSPs. We also obtain the closed-form solutions of the direct kinematics for the planar GSPs, For a class of GSPs with two distance and one angular constraints, we may give pure geometric solutions based on ruler and compass constructions.
关键词	planar generalized Stewart platform geometric constraint solving direct kinematics closed-form solution
语种	英语
WOS研究方向	Computer Science ; Mathematics
WOS类目	Computer Science, Artificial Intelligence ; Mathematics
WOS记录号	WOS:000235835500012
出版者	SPRINGER-VERLAG BERLIN
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/2896
专题	系统科学研究所
通讯作者	Zhang, GF
作者单位	1.Beijing Forestry Univ, Sch Sci, Beijing 100083, Peoples R China 2.Acad Sinica, AMSS, Inst Syst Sci, Key Lab Math Mechanizat, Beijing 100080, Peoples R China
推荐引用方式 GB/T 7714	Zhang, GF,Gao, XS. Planar generalized Stewart platforms and their direct kinematics[J]. AUTOMATED DEDUCTION IN GEOMETRY,2006,3763:198-211.
APA	Zhang, GF,&Gao, XS.(2006).Planar generalized Stewart platforms and their direct kinematics.AUTOMATED DEDUCTION IN GEOMETRY,3763,198-211.
MLA	Zhang, GF,et al."Planar generalized Stewart platforms and their direct kinematics".AUTOMATED DEDUCTION IN GEOMETRY 3763(2006):198-211.