Proceedings ArticleDOI
Direct kinematic solution of a Stewart platform
Prabjot Nanua,Kenneth J. Waldron,V. Murthy +2 more
- Vol. 6, Iss: 4, pp 438-444
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TLDR
A solution of the direct kinematics problem for the Stewart platform is presented and the solution is shown to be reducible to a 24th-order polynomial equation in tan( phi /sub r//2).Abstract:
The Stewart platform is a fully parallel, six-degree-of-freedom manipulator mechanism. Although its inverse kinematics have been extensively studied, no solutions to the direct position kinematics problem have been previously presented in the literature. A solution of the direct kinematics problem of the case in which the six limbs form three concurrent pairs at either the base or the hand member is presented. Even though it is not the most general possible configuration, this case does include many arrangements that have been used in practical robot mechanisms. >read more
Citations
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Journal ArticleDOI
Dynamic analysis and control of a Stewart platform manipulator
TL;DR: The dynamic equations of the Stewart platform manipulator are studied to make the milling station into a semiautonomous robotic tool needing some operator interaction but having some intelligence of its own.
Book ChapterDOI
Kinematics of A Three-Dof Platform with Three Extensible Limbs
TL;DR: A three degree-of-freedom manipulator that has a fairly large translational workspace is presented and both the direct and inverse kinematics are investigated.
Proceedings ArticleDOI
On the accuracy of a Stewart platform. I. The effect of manufacturing tolerances
J. Wang,Oren Masory +1 more
TL;DR: The authors present a numerical method for the solution of both inverse and forward kinematic problems of the actual platform model and demonstrate, through simulation, the effect of the above factors on platform accuracy.
Journal ArticleDOI
Computation of stiffness and stiffness bounds for parallel link manipulators
TL;DR: In this paper, the problem of finding the minimum and maximum stiffnesses and the directions in which they occur for a manipulator in a given posture is addressed, and the computation of stiffness in an arbitrary direction is also discussed.
Journal ArticleDOI
Kinematic analysis of a Stewart platform manipulator
TL;DR: A simplified algorithm for solving the forward kinematics of a six-link, six-degrees-of-freedom Stewart platform is proposed, which involves solving only three nonlinear simultaneous equations.
References
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Journal ArticleDOI
A Platform with Six Degrees of Freedom
TL;DR: In this article, the authors describe a six-degree-of-freedom control with six motors, each having a ground abutment, for simulating flight conditions in the training of pilots.
Journal ArticleDOI
A Stewart-Platform based manipulator: general theory and practical construction
TL;DR: The Stewart Platform is one example of a parallel connection robot manipulator as discussed by the authors, and it has been used extensively in the past several years for a variety of tasks in the field of robotics.
Journal ArticleDOI
Kinematic analysis of a three degrees of freedom in-parallel actuated manipulator
Kok-Meng Lee,D. Shah +1 more
TL;DR: The dynamic analysis of a three-degrees-of-freedom in-parallel actuated manipulator provides a basis for future theoretical research to develop the control scheme, for experimental research to estimate the inertia parameters, and for design optimization of the prototype manipulator.
Journal ArticleDOI
Kinematics of a Hybrid Series-Parallel Manipulation System
TL;DR: In this article, the coordinate transformations associated with a three-degree-of-freedom in-parallel-actuated micro-manipulator are derived and the results are the basic transformation equations between joint-space position variables and end-effector (or task space) position variables.