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
ISBN: 1-4020-0696-9
Buchaufsatz / Kapitel / Fach: Maschinenbau
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.