DocumentCode
2328126
Title
The (true) Stewart platform has 12 configurations
Author
Lazard, Daniel ; Merlet, Jean-Pierre
Author_Institution
LITP, Inst. Blaise Pascal, Paris, France
fYear
1994
fDate
8-13 May 1994
Firstpage
2160
Abstract
We consider a Stewart platform and show that its forward kinematics has at most 12 solutions. A first geometrical demonstration is provided which uses the concept of circularity and in a second proof we show that this problem is equivalent to find a system of two planar parallel manipulators with each 6 solutions to the forward kinematic problem. A geometrical construction is provided to construct such a system and a Stewart platform with 12 configurations is exhibited
Keywords
robot kinematics; Stewart platform; circularity; forward kinematics; geometry; planar parallel manipulator pair; robot; Aerospace simulation; Art; H infinity control; Hydraulic actuators; Kinematics; Polynomials; Solid modeling;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location
San Diego, CA
Print_ISBN
0-8186-5330-2
Type
conf
DOI
10.1109/ROBOT.1994.350969
Filename
350969
Link To Document