Husty, Manfred; Mielczarek, Sonja; Hiller, Manfred:
A redundant spatial Stewart-Gough platform with a maximal forward kinematics solution set
In: Advances in robot kinematics : theory and applications / Lenarcic, Jadran; Thomas, Federico (Hrsg.). - Dodrecht (u.a.): Kluwer Acad. Publ., 2002, S. 147 - 154
Buchaufsatz/Kapitel in Sammelwerk / Fach: Maschinenbau
Titel:
A redundant spatial Stewart-Gough platform with a maximal forward kinematics solution set
Autor(in):
Husty, Manfred; Mielczarek, Sonja; Hiller, Manfred im Online-Personal- und -Vorlesungsverzeichnis LSF anzeigen
Erscheinungsjahr:
2002
Erschienen in:
Advances in robot kinematics : theory and applications / Lenarcic, Jadran; Thomas, Federico (Hrsg.). - Dodrecht (u.a.): Kluwer Acad. Publ., 2002, S. 147 - 154
ISBN:

Abstract:

This paper discusses the possibility of designing a redundant spatial parallel manipulator with a maximal forward kinematics solution set. We show that when the anchor points for the joints of the platform and base are planar, in almost every case an infinite number of legs may be added without changing the kinematics of the mechanism. The possible anchor points lie on a cubic which may be split into a line and a conic.