%0 Journal Article %1 758.70005 %A Zhang, Chang-de %A Song, Shin-Min %D 1992 %J J. Rob. Syst. %K condition; degree freedom geometrical of rotational %N 1 %P 93-112 %T Forward kinematics of a class of parallel (Stewart) platforms with closed-form solutions. %V 9 %X This article studies the geometrical condition for closed-form solutions of forward kinematics of parallel platforms. It is shown that closed-form solutions are available if one rotational degree of freedom (dof) of the moving platform is decoupled from the other five dof. Geometrically, this condition is satisfied when five end-points at the moving platform (or at the base) are collinear. A general case that these five points do not coincide with each other is studied first and is shown to have 16 possible closed-form solutions. The variations of parallel platforms that satisfy the above-mentioned geometrical condition are then discussed. Some of them have the additional feature that the three rotational dof are fully decoupled from the 3 translational dof and their closed-form solutions are further simplified. One particular case has extremely simple forward kinematics and could be used as an alternative to the Stewart platform.

@article{758.70005, abstract = {This article studies the geometrical condition for closed-form solutions of forward kinematics of parallel platforms. It is shown that closed-form solutions are available if one rotational degree of freedom (dof) of the moving platform is decoupled from the other five dof. Geometrically, this condition is satisfied when five end-points at the moving platform (or at the base) are collinear. A general case that these five points do not coincide with each other is studied first and is shown to have 16 possible closed-form solutions. The variations of parallel platforms that satisfy the above-mentioned geometrical condition are then discussed. Some of them have the additional feature that the three rotational dof are fully decoupled from the 3 translational dof and their closed-form solutions are further simplified. One particular case has extremely simple forward kinematics and could be used as an alternative to the Stewart platform. }, added-at = {2008-03-02T02:12:02.000+0100}, author = {Zhang, Chang-de and Song, Shin-Min}, biburl = {https://www.bibsonomy.org/bibtex/2753b6b776afb6f6007e42da159c116a4/dmartins}, classmath = {*70B15 Mechanisms}, description = {robotica-bib}, interhash = {77fd51efdad0bf743570edbe070c7430}, intrahash = {753b6b776afb6f6007e42da159c116a4}, journal = {J. Rob. Syst.}, keywords = {condition; degree freedom geometrical of rotational}, language = {English}, number = 1, pages = {93-112}, timestamp = {2008-03-02T02:14:46.000+0100}, title = {Forward kinematics of a class of parallel (Stewart) platforms with closed-form solutions. }, volume = 9, year = 1992 }