Generalized Stewart-Gough platforms and their direct kinematics
文献类型：期刊论文
| 作者 | Gao, XS; Lei, DL; Liao, QZ; Zhang, GF |
| 刊名 | IEEE TRANSACTIONS ON ROBOTICS
 |
| 出版日期 | 2005-04-01 |
| 卷号 | 21期号:2页码:141-151 |
| 关键词 | closed-form solution decoupled mechanisms direct kinematics generalized Stewart-Gough platform (GSP) parallel manipulator |
| ISSN号 | 1552-3098 |
| DOI | 10.1109/TRO.2004.835456 |
| 英文摘要 | In this paper, we introduce the generalized Stewart-Gough platform (GSP). consisting of two rigid bodies connected with six distance and/or angular constraints between six pairs of points, lines, and/or planes in the base and the moving 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 of the direct kinematics for a class of 1120 GSPs. |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000228337900001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 源URL | [http://ir.amss.ac.cn/handle/2S8OKBNM/1666]  |
| 专题 | 中国科学院数学与系统科学研究院 |
| 通讯作者 | Gao, XS |
| 作者单位 | 1.Acad Sinica, AMSS, Inst Syst Sci, Key Lab Math Mechanizat, Beijing 100080, Peoples R China 2.Beijing Univ Posts & Telecommun, Sch Automat, Beijing 100876, Peoples R China 3.Tsinghua Univ, Dept Comp Sci, Beijing 100080, Peoples R China |
| 推荐引用方式 GB/T 7714 | Gao, XS,Lei, DL,Liao, QZ,et al. Generalized Stewart-Gough platforms and their direct kinematics[J]. IEEE TRANSACTIONS ON ROBOTICS,2005,21(2):141-151. |
| APA | Gao, XS,Lei, DL,Liao, QZ,&Zhang, GF.(2005).Generalized Stewart-Gough platforms and their direct kinematics.IEEE TRANSACTIONS ON ROBOTICS,21(2),141-151. |
| MLA | Gao, XS,et al."Generalized Stewart-Gough platforms and their direct kinematics".IEEE TRANSACTIONS ON ROBOTICS 21.2(2005):141-151. |
入库方式： OAI收割
来源：数学与系统科学研究院
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