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The forward kinematics of doubly-planar Gough-Stewart platforms and the position analysis of strips of tetrahedra

Author
Porta, J.; Thomas, F.
Type of activity
Presentation of work at congresses
Name of edition
16th International Symposium on Advances in Robot Kinematics, 2018
Date of publication
2018
Presentation's date
2018
Book of congress proceedings
Springer Proceedings in Advanced Robotic -volume 8
First page
124
Last page
132
Publisher
Springer
DOI
10.1007/978-3-319-93188-3_15
Project funding
KINODYN: Kinodynamic planning of efficient and agile robot motions
RobCab: Control strategies for cable-driven robot for low-gravity simulation
Unit of Excellence María de Maeztu
Repository
http://hdl.handle.net/2117/129977 Open in new window
URL
https://link.springer.com/chapter/10.1007%2F978-3-319-93188-3_15 Open in new window
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 platfor...
Citation
Porta, J.; Thomas, F. The forward kinematics of doubly-planar Gough-Stewart platforms and the position analysis of strips of tetrahedra. A: International Symposium on Advances in Robot Kinematics. "Springer Proceedings in Advanced Robotic -volume 8". Berlín: Springer, 2018, p. 124-132.
Keywords
Closed-form solutions, Distance Geometry, Gough-Stewart platform, Position analysis, Robots
Group of research
KRD - Kinematics and Robot Design

Participants