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The Forward Kinematics of Doubly-Planar Gough-Stewart Platforms and the Position Analysis of Strips of Tetrahedra

descriptionPublicationkeyboard_double_arrow_right Part of book or chapter of book , Conference object , Other literature type 23 Jun 2018 Spain Publisher:Springer International Publishing

Authors: Porta Pleite, Josep Maria; Thomas, Federico;

doi: 10.1007/978-3-319-93188-3_15

handle: 2117/129977 , 10261/179904

The Forward Kinematics of Doubly-Planar Gough-Stewart Platforms and the Position Analysis of Strips of Tetrahedra

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Abstract

A strip of tetrahedra is a tetrahedron-tetrahedron truss where any tetrahedron has two neighbors except those in the extremes which have only one. The problem of finding all the possible lengths for an edge in the strip compatible with a given distance imposed between the strip end-points has been revealed of relevance due to the large number of possible applications. In this paper, this is applied to solve the forward kinematics of 6-6 Gough-Stewart platforms with planar base and moving platform, a problem which is known to have up to 40 solutions (20 if we do not consider mirror configurations with respect to the base as different solutions).

The final publication is available at link.springer.com

Peer Reviewed

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Spain

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Keywords

Àrees temàtiques de la UPC::Informàtica::Robòtica, Classificació INSPEC::Automation::Robots, :Automation::Robots [Classificació INSPEC], Distance Geometry, Position analysis, Closed-form solutions, Gough-Stewart platform, Distance geometry, :Informàtica::Robòtica [Àrees temàtiques de la UPC], Robots

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