{"title":"二维和三维广义Stewart平台","authors":"X. Gao, Gui-Fang Zhang","doi":"10.1145/1113439.1113451","DOIUrl":null,"url":null,"abstract":"The Stewart Platform (SP) is a parallel manipulator consisting of a moving platform and a base. The position and orientation (pose) of the base are fixed. The base and platform are connected with six extensible legs. The SP has been studied extensively in the past 20 years and has many applications. A large portion of the work on SP is focused on the direct kinematics: for a given set of lengths of the legs, determine the pose of the platform. It is known that the direct kinematics have 40 solutions. But, closed form solutions are not found yet.","PeriodicalId":314801,"journal":{"name":"SIGSAM Bull.","volume":"26 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"2D and 3D generalized Stewart Platforms\",\"authors\":\"X. Gao, Gui-Fang Zhang\",\"doi\":\"10.1145/1113439.1113451\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The Stewart Platform (SP) is a parallel manipulator consisting of a moving platform and a base. The position and orientation (pose) of the base are fixed. The base and platform are connected with six extensible legs. The SP has been studied extensively in the past 20 years and has many applications. A large portion of the work on SP is focused on the direct kinematics: for a given set of lengths of the legs, determine the pose of the platform. It is known that the direct kinematics have 40 solutions. But, closed form solutions are not found yet.\",\"PeriodicalId\":314801,\"journal\":{\"name\":\"SIGSAM Bull.\",\"volume\":\"26 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2005-09-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"SIGSAM Bull.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1145/1113439.1113451\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"SIGSAM Bull.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/1113439.1113451","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The Stewart Platform (SP) is a parallel manipulator consisting of a moving platform and a base. The position and orientation (pose) of the base are fixed. The base and platform are connected with six extensible legs. The SP has been studied extensively in the past 20 years and has many applications. A large portion of the work on SP is focused on the direct kinematics: for a given set of lengths of the legs, determine the pose of the platform. It is known that the direct kinematics have 40 solutions. But, closed form solutions are not found yet.
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