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TECHNICAL PAPERS

Forward Kinematics in Polynomial Form of the General Stewart Platform

[+] Author and Article Information
Carlo Innocenti

Department of Engineering Sciences, University of Modena and Reggio Emilia, Via Vignolese, 905-41100 Modena, Italye-mail: carlo.innocenti@unimo.it

J. Mech. Des 123(2), 254-260 (Dec 01, 1998) (7 pages) doi:10.1115/1.1348018 History: Received December 01, 1998
Copyright © 2001 by ASME
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References

Fichter,  E. F., 1986, “A Stewart Platform-Based Manipulator: General Theory and Practical Construction,” Int. J. Robot. Res., 5, No. 2, pp. 157–182.
Dasgupta,  B., and Mruthyunjaya,  T. S., 1996, “A Constructive Predictor-Corrector Algorithm for the Direct Position Kinematics Problem for a General 6-6 Stewart Platform,” Mech. Mach. Theory, 31, No. 6, pp. 799–811.
Husty,  M. L., 1996, “An Algorithm for Solving the Direct Kinematics of General Stewart-Gough Platforms,” Mech. Mach. Theory, 31, No. 4, pp. 365–380.
Nielsen, J., and Roth, B., 1996, “The Direct Kinematics of the General 6-5 Stewart-Gough Mechanism,” in Recent Advances in Robot Kinematics, Kluwer Academic, Netherlands, pp. 7–16.
Innocenti, C., 1997, “A New Algorithm for the Direct Kinematics of the 6-5 Fully-Parallel Manipulator,” Proc. of the 5th Applied Mechanisms & Robotics Conference, Cincinnati (OH), Oct. 12–15, paper No. AMR97-039.
Wen,  F., and Liang,  C. G., 1994, “Displacement Analysis of the 6-6 Stewart Platform Mechanisms,” Mech. Mach. Theory, 29, No. 4, pp. 547–557.
Zhang,  C. D., and Song,  S. M., 1994, “Forward Position Analysis of Nearly General Stewart Platforms,” ASME J. Mech. Des., 166, No. 1, pp. 54–60.
Raghavan,  M., 1993, “The Stewart Platform of General Geometry Has 40 Configurations,” ASME J. Mech. Des., 115, No. 2, pp. 277–282.
Lazard, D., 1993, “On the Representation of Rigid-Body Motions and Its Application to Generalized Platform Manipulators,” in Computational Kinematics, Kluwer Academic, Netherlands, pp. 175–181.
Ronga, F., and Vust, T., 1995, “Stewart Platforms without Computer?,” Proc. of the Conference on Real Analytic and Algebraic Geometry, Trento, Sept. 21–25, 1992, W. de Gruyter Verlag, Berlin, pp. 197–212.
Wampler,  C. W., 1996, “Forward Displacement Analysis of General Six-in-Parallel SPS (Stewart) Platform Manipulators Using Soma Coordinates,” Mech. Mach. Theory, 31, No. 3, pp. 331–337.
Dietmaier, P., 1998, “The Stewart-Gough Platform of General Geometry can have 40 Real Postures,” in Advances in Robot Kinematics: Analysis and Control, J. Lenarčič and M. L. Husty (Eds.), Kluwer Academic Publishers, ISBN 0-7923-5169-X, pp. 7–16.
Bottema, O., and Roth, B., 1979, Theoretical Kinematics, North-Holland, Amsterdam.
Cheng,  H., and Gupta,  K. C., 1989, “An Historical Note on Finite Rotations,” ASME J. Appl. Mech., 56, No. 1, pp. 139–145.
Korn, G. A., and Korn, T. M., 1961, Mathematical Handbook for Scientists and Engineers, McGraw-Hill, New York.
Wolfram, S., 1996, The Mathematica Book, 3rd ed., Wolfram Media, Champaign/Cambridge University Press, Cambridge.

Figures

Grahic Jump Location
The general Stewart platform
Grahic Jump Location
Distribution of the errors affecting the estimated platform locations

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