Closed-form solution of the direct kinematics of the 6-3 type Stewart Platform using one extra sensor

被引：8

作者：

ParentiCastelli, V ^{[1
]}

DiGregorio, R ^{[1
]}

机构：

[1] UNIV FERRARA,IST INGN,I-44100 FERRARA,ITALY

来源：

MECCANICA | 1996年 / 31卷 / 06期

关键词：

direct position analysis; fully-parallel mechanisms; extra sensors; kinematics of mechanisms; robotics;

D O I：

10.1007/BF00426976

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

A procedure for the determination of the actual configuration of the 6-3 type Stewart Platform is presented. The procedure makes use of one extra sensor in addition to the six that provide the mechanism leg lengths. The use of one extra sensor suitably located on the mechanism allows the direct position analysis to be solved in closed form and makes it possible to obtain a one-to-one correspondence between the sensor measurements and the configuration of the mechanism in almost the entire workspace. Particular configurations where the correspondence is not one-to-one are outlined and criteria to identify them given. Sensitivity to sensor measurement errors is investigated.

引用

页码：705 / 714

页数：10

共 12 条

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