Classification of Direct Kinematics to 3D3A Generalized Stewart Platform with Equilateral Triangle Platforms

Jiawen Zhang, Guifang Zhang
2018 Proceedings of the 2018 International Conference on Advanced Control, Automation and Artificial Intelligence (ACAAI 2018)   unpublished
Generalized S tewart Platform is the extended form of S tewart platform of parallel linkages, which is two rigid bodies connected with six constraints. The classification of direct kinematics to 3D3A generalized S tewart platform with equilateral triangle platforms based on symbolic computation is presented. The explicit conditions of the parameters for the generalized S tewart platforms to have a given number of real solutions are given while imposing three angular constraints and three
more » ... e 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.
doi:10.2991/acaai-18.2018.62 fatcat:hte2qfldafhqtjdj5xop2igzty