Classification of all self-motions of the original Stewart-Gough platform

CAD Computer Aided Design

Volumn 30, Issue 3, 1998, Pages 205-215

  Karger, Adolf ^a,e,f   Husty, Manfred ^b,c,d  

^a CHARLES UNIVERSITY   (Czech Republic)

^b Inst of Math and Applied Geometry   (Austria)

^c Institute of Applied Geometry   (Austria)

^d MCGILL UNIVERSITY   (Canada)

^e UNIVERSITY OF FLORIDA   (United States)

^f UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

Borel Bricard motions; Parallel manipulators; Self motions; Space kinematics; Stewart Gough platforms

Indexed keywords

EID: 0005631551     PISSN: 00104485     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0010-4485(97)00059-6     Document Type: Article

References (11)

1. Borel, E., Mémoire sur les déplacements àtrajectoires sphériques. Mémoires présentés par divers savants, Paris, 1908, 33(2), 1-128.
2. Bricard, R., Mémoire sur les déplacements à trajectoires sphériques. Journal de l'École Polytechnique, 1906, 11(2), 1-96.
3. Husty, M. L., An algorithm for solving the direct kinematic of Stewart-Gough type platforms. Mechanism & Machine Theory, 1996, 31(4), 365-380.
4. Karger, A. and Husty, M. L., On self-motions of a class of parallel manipulators. In Proceedings of the 5th ARK Conference, Portorož, Slovenia, 1996, pp. 339-348.
5. Husty, M. L. and Zsombor-Murray, P. A., Special type of singular Stewart-Gough platform. In Advances in Robot Kinematics and Computational Geometry, ed. J. Lenarcic and B. Ravani, pp. 449-458. Kluwer, Dordrecht, 1994.
6. Ma, O. and Angeles, J., Architecture singularities of parallel manipulators. International Journal of Robotics and Automation, 1992, 7, 23-29.
7. Merlet, J. P., Les Robots Parallèles. Hermès, Paris, 1990.
8. Merlet, J.P., Singular configurations of parallel manipulators and grassmann geometry. International Journal of Robotics Research, 1992, 8, 45-56.
9. Ravani, B. and Roth, B., Mappings of spatial kinematics. ASME Journal of Mechanism, Transmissions and Automation in Design, 1984, 106, 341-347.
10. Stewart, D. A., Platform with six degrees of freedom. Proceedings, Institution of Mechanical Engineers, London, 1965, 180(1), 371-386.
11. Stachel, H., Zur einzigkeit der bricardschen oktaeder. Journal of Geometry, 1978, 28, 41-56.