On the kinematic of a 3-DOF Stewart platform
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CitationBürüncük, K., & Tokad, Y. (1999). On the kinematic of a 3‐DOF stewart platform. Journal of Robotic Systems, 16(2), 105-118. doi:10.1002/(SICI)1097-4563(199902)16:2<105::AID-ROB4>3.0.CO;2-Z
The kinematic behavior of the Stewart platform has been discussed in the literature by many researchers. In the present article, a special form of the Stewart platform, namely, the 3-degrees of freedom platform with triangular shaped base and upper platforms, is considered by thoroughly deriving a new set of constraint equations which makes it possible to discover several new properties of the platform. Both the inverse and direct kinematic problems are discussed and a new approach for solution of the direct kinematic problem is described which gives all the real (physical) solutions.
SourceJournal of Robotic Systems