Kinematic modeling of stewart-gough platforms

Exploiting Higher Kinematic Performance – Using a 4-Legged Redundant PM Rather than Gough-Stewart Platforms

New Direct Kinematic Formulation of 6 D.O.F Stewart-Gough Platforms Using the Tetrahedron Approach

The paper presents a single constraint equation of the direct kinematic solution of 6-dof (Stewart-Gough) platforms. Many research works have presented a single polynomial of the direct kinematics for several 6-dof platforms. However, the formulation of the polynomial has potential problems such as complicated formulation procedures and discrimination of the actual solution from all roots. This...

New Geometric Approaches to the Analysis and Design of Stewart-Gough Platforms

In general, rearranging the legs of a Stewart-Gough platform, i.e., changing the locations of its leg attachments, modifies the platform singularity locus in a rather unexpected way. Nevertheless, some leg rearrangements have been recently found to leave singularities invariant. Identification of such rearrangements is useful not only for the kinematic analysis of the platforms, but also as a t...

Image-based Visual Servoing of a Gough - Stewart Parallel Manipulator using Leg Observations

In this paper, a tight coupling between computer vision and parallel robotics is exhibited through the projective line geometry. Indeed, contrary to the usual methodology where the robot is modeled independently from the control law which will be implemented, we take into account, since the early modeling stage, that vision will be used for control. Hence, kinematic modeling and projective geom...

Dynamic Modeling and Simulation of Stewart Platform

Since a parallel structure is a closed kinematics chain, all legs are connected from the origin of the tool point by a parallel connection. This connection allows a higher precision and a higher velocity. Parallel kinematic manipulators have better performance compared to serial kinematic manipulators in terms of a high degree of accuracy, high speeds or accelerations and high stiffness. Theref...