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 (Eds.). - Dodrecht (u.a.): Kluwer Acad. Publ., 2002, pp. 147 - 154
2002book article/chapter in collection
Mechanical Engineering
Title:
A redundant spatial Stewart-Gough platform with a maximal forward kinematics solution set
Author:
Husty, Manfred;Mielczarek, Sonja;Hiller, ManfredUDE
LSF ID
1048
Other
connected with university
Appears in
Advances in robot kinematics : theory and applications
Editor:
Lenarcic, Jadran;Thomas, Federico
Place of publication:
Dodrecht (u.a.)
Publisher:
Kluwer Acad. Publ.
Year of publication:
2002
in:
pp. 147 - 154
ISBN
1-4020-0696-9

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.