Classification of Direct Kinematics to 3D3A Generalized Stewart Platform with Equilateral Triangle Platforms
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.
parallel linkages direct kinematics generalized Stewart platform symbolic computation Wu-Ritt characteristic set method
Jiawen Zhang Guifang Zhang
College of Sciences,Beijing Forestry University,Beijing 100083,China
国际会议
深圳
英文
265-269
2018-01-21（万方平台首次上网日期，不代表论文的发表时间）