Kinematics analyses of Dodekapod

被引：21

作者：

Bande, P

Seibt, M

Uhlmann, E

Saha, SK ^{[1
]}

Rao, PVM

机构：

[1] Indian Inst Technol, Dept Mech Engn, New Delhi 110016, India

[2] Tech Univ Berlin, Inst Machine Tools, Berlin, Germany

[3] Altair Engn, Bangalore, Karnataka, India

来源：

MECHANISM AND MACHINE THEORY | 2005年 / 40卷 / 06期

关键词：

Dodekapod; parallel manipulators; Stewart platform; kinematics;

D O I：

10.1016/j.mechmachtheory.2004.11.006

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Dodekapod is a recent development in the area of parallel manipulators. It is a manipulator with 12 degree of freedom proposed as an alternative to six degree of freedom Hexapod, to overcome workspace limitations. This paper deals with the inverse and forward kinematics of Dodekapod. A hierarchical method to solve the kinematics is proposed assuming gripping as an end application. Using this approach, the problem of kinematics can be reduced to that of a general 6-6 Stewart platform for which solutions have been proposed in the past. (c) 2005 Elsevier Ltd. All rights reserved.

引用

页码：740 / 756

页数：17

共 14 条

[1]

BANDE P, 2000, PROGRAMMING DODEKAPO

[2] A CANONICAL FORMULATION OF THE DIRECT POSITION KINEMATICS PROBLEM FOR A GENERAL 6-6 STEWART PLATFORM [J].