On the kinematic of a 3-DOF Stewart platform
Yükleniyor...
Dosyalar
Tarih
1999-02
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
John Wiley & Sons Inc
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
The kinematic behavior of the Stewart platform has been discussed in the literature by many researchers. In the present article, a special form of the Stewart platform, namely, the 3-degrees of freedom platform with triangular shaped base and upper platforms, is considered by thoroughly deriving a new set of constraint equations which makes it possible to discover several new properties of the platform. Both the inverse and direct kinematic problems are discussed and a new approach for solution of the direct kinematic problem is described which gives all the real (physical) solutions.
Açıklama
Anahtar Kelimeler
Parallel manipulators, Manipulators, Kinematics, Spherical parallel, Constraint theory, Degrees of freedom (mechanics), Stewart platforms
Kaynak
Journal of Robotic Systems
WoS Q Değeri
Q1
Scopus Q Değeri
N/A
Cilt
16
Sayı
2
Künye
Bürüncük, K., & Tokad, Y. (1999). On the kinematic of a 3‐DOF stewart platform. Journal of Robotic Systems, 16(2), 105-118. doi:10.1002/(SICI)1097-4563(199902)16:2<105::AID-ROB4>3.0.CO;2-Z
