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2004
Springer

Planar Generalized Stewart Platforms and Their Direct Kinematics

12 years 5 months ago
Planar Generalized Stewart Platforms and Their Direct Kinematics
Abstract. 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 closedform 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.
Gui-Fang Zhang, Xiao-Shan Gao
Added 30 Jun 2010
Updated 30 Jun 2010
Type Conference
Year 2004
Where ADG
Authors Gui-Fang Zhang, Xiao-Shan Gao
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