Stewart-Gough platformTransformable architectureKinematic structureStabilityStructural designStewart–Gough platforms are well known for their extraordinary kinematic motion and therefore they are widely used as devices, ranging from flight simulators to microsurgical manipulators. However, they have not yet been...
platform, respectively. We prove that there exist 3850 possible forms of GSPs. We give the upper bounds for the number of solutions of the direct kinematics for all the GSPs. We also obtain closed-form solutions and the best upper bounds of real solutions ...
Figure 2: A generic Stewart-Gough platform The direct kinematics of a generic Stewart-Gough platform has often multiple solutions. For instance, the general Stewart-Gough platform can have 40 real solutions, (Dietmaier, 1998). Practical applications of direct kinematics, e.g, in robot control ar...
Balance Like A Mountain Goat On This Simple Stewart Platform December 27, 2017 by Dan Maloney 4 Comments No goats were harmed in the making of this 3-DOF Stewart platform for [Bruce Land]’s microcontrollers course at Cornell. If the name “Stewart platform” doesn’t ring a bell, the ...
摘要: This work presents a necessary and sufficient condition to define a singularity-invariant leg rearrangement, based on an affine relation between the squared leg lengths before and after the rearrangem关键词: Stewart’Gough platform forward kinematics singularities ...
Kinematic mapping is used to represent distinct displacements of the platform as discrete points in a three-dimensional projective image space. Separate motions of each leg map to skew one-sheet hyper-boloids, or hyperbolic paraboloids, depending on the kinematic architecture of the leg. After two...
Further, the modelling and control of an inverted, ceiling-mounted electrohydraulically driven Stewart platform has been studied, using the virtual work principle [17]. The controller employed pressure feedback. Work on the same mechanism, in which a Lyapunov analysis approach has been used for des...
2.College of Mechanical and Power Engineering, Harbin University of Science and Technology, 150080 Harbin, China) Abstract: Because the manipulability index based on conventional Jacobian matrix of Gough-Stewart platform (GSP) is with no physical meaning and variant with the change of units, a ne...
ADAPTIVE-ROBUST CONTROL OF THE STEWART-GOUGH PLATFORM AS A SIX DOF PARALLEL ROBOT
Figure 2 Final con,guration of control led platform rpaetes −ue 08 06 04 02 0 −02uep −04 −060 1 2 3 4 5 6 7 8 9 1008time Figure 4 Actual (sol id l ines)and estimated(dashed l ines)Euler param-eters 1 1, 2 ...