Recently, the authors presented a new over-constrained manipulator with six degrees of freedom, based on a modified Gough-Stewart platform, and a solution for its direct position analysis. In this paper, a different solution is proposed based on a different parameterization that leads to a reduced system of four closure equations. The new method simplifies the analytical derivation and the geometrical interpretation of the results.
Luzi, L., Sancisi, N., Castelli, V.P. (2018). A new direct position analysis solution for an over-constrained gough-stewart platform. Cham : Springer Netherlands [10.1007/978-3-319-60867-9_67].
A new direct position analysis solution for an over-constrained gough-stewart platform
Luzi, Luca;Sancisi, Nicola;Castelli, Vincenzo Parenti
2018
Abstract
Recently, the authors presented a new over-constrained manipulator with six degrees of freedom, based on a modified Gough-Stewart platform, and a solution for its direct position analysis. In this paper, a different solution is proposed based on a different parameterization that leads to a reduced system of four closure equations. The new method simplifies the analytical derivation and the geometrical interpretation of the results.File in questo prodotto:
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