The forward and inverse kinematics problems for stewart parallel mechanisms

CIM 2002 Computer Integrated Manufacturing and High Speed Machining - 8th International Scientific Conference on Production Engineering

Volumn , Issue , 2002, Pages

  Jakobović, Domagoj ^a   Jelenković, Leonardo ^a  

^a UNIVERSITY OF ZAGREB   (Croatia)

Author keywords

Canonical formulation; Forward kinematics; Hexapod; Inverse kinematics; Iterative algorithms; Workspace area

Indexed keywords

CANONICAL FORMULATIONS; FORWARD KINEMATICS; HEXAPOD; ITERATIVE ALGORITHMS; WORKSPACE AREA;

ALGORITHMS; INVERSE KINEMATICS; MATRIX ALGEBRA; MECHANISMS; OPTIMIZATION; PARAMETER ESTIMATION; PROBLEM SOLVING; SAMPLING;

MANIPULATORS;

EID: 4944260877     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (14)

1. B. Dasgupta, T.S. Mruthyunjaya, "A Canonical Formulation of the Direct Position Kinematics Problem for a General 6-6 Stewart Platform", Mech. Mach. Theory, Vol 29, No. 6, pp. 819-827, 1994.
2. J. -P. Merlet, "Direct Kinematics of Parallel Manipulators", IEEE Transactions on Robotics and Automation, Vol. 9, No. 6, pp. 842-845, 1993.
3. R. P. Paul, Robot Manipulators, The MIT Press, Cambridge, 1981.
4. M. Raghavan, "The Stewart Platform of General Geometry has 40 Configurations", Journal of Mechanical Design, Vol. 115, pp. 277-282, June 1993.
5. M Husty, "An Algorithm for Solving the Direct Kinematic Of Stewart-Gough-Type Platforms", ftp://ftp.mcrcim.mcgill.edu/pub/techrep/ 1994/CIM-94-01.pdf, 1994.
6. F. Wen, C. Liang, "Displacement Analysis of the 6-6 Stewart Platform Mechanisms", Mechanism and Machine Theory, Vol. 29, No. 4, pp. 547-557, 1994.
7. J. Tlusty, "High-Speed Machining" Annals of CIRP, vol. 42/2, pp. 56-59, 1993.
8. J.P. Meriet, "Designing a parallel manipulator for a specific workspace" Research report 2527, INRIA, 1995.
9. C. Luh, F. Adkins, E. Haung and C. Qiu, "Working Capability Analysis of Stewart Platforms", ASME Journal of Mechanical Design, Vol. 118, 220-227, 1996.
10. L. Molinari Tosatti, G. Bianchi, I. Fassi, C.R. Boer, F. Jovane, "An integrated Methodology for the Design of Parallel Kinematic Machines (PKM)" Annals of the CIRP, vol.46/2, pp. 341-345, 1997.
11. Q.Y. Wang, et al, "Design and Kinematics of a Parallel Manipulator for Manufacturing", Annals of CIRP, 46(1):297-300, 1997.
12. H.J. Warnecke, R. Neugebauer, F. Wieland, "Development of Hexapod Based Machine Tool" Annals of CIRP, vol. 47/1, pp. 337-340, 1998.
13. D. Jakobović, The Evaluation of Problem Solving Methods for Stewart Parallel Mechanism Kinematics, MSc thesis (in Croatian), http://www.zemris.fer.hr/~yeti/magisterij/MSc_thesis.pdf, 2001.
14. L. Jelenković, The Evaluation and Analysis of Stewart Parallel Mechanisms, MSc thesis (in Croatian), http://www.zemris.fer.hr/~leonj, 2001.