Introducing the Theory of Bonds for Stewart Gough Platforms With Self Motions1Source: Journal of Mechanisms and Robotics:;2014:;volume( 006 ):;issue: 001::page 11004Author:Nawratil, Georg
DOI: 10.1115/1.4025623Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: We transfer the basic idea of bonds, introduced by Hegedأ¼s, Schicho, and Schrأ¶cker for overconstrained closed chains with rotational joints, to the theory of selfmotions of parallel manipulators of Stewart Gough (SG) type. Moreover, we present some basic facts and results on bonds and demonstrate the potential of this theory on the basis of several examples. As a byproduct we give a geometric characterization of all SG platforms with a pure translational selfmotion and of all spherical threedegrees of freedom (DOF) RPR manipulators with selfmotions.
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| contributor author | Nawratil, Georg | |
| date accessioned | 2017-05-09T01:10:58Z | |
| date available | 2017-05-09T01:10:58Z | |
| date issued | 2014 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_006_01_011004.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/155785 | |
| description abstract | We transfer the basic idea of bonds, introduced by Hegedأ¼s, Schicho, and Schrأ¶cker for overconstrained closed chains with rotational joints, to the theory of selfmotions of parallel manipulators of Stewart Gough (SG) type. Moreover, we present some basic facts and results on bonds and demonstrate the potential of this theory on the basis of several examples. As a byproduct we give a geometric characterization of all SG platforms with a pure translational selfmotion and of all spherical threedegrees of freedom (DOF) RPR manipulators with selfmotions. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Introducing the Theory of Bonds for Stewart Gough Platforms With Self Motions1 | |
| type | Journal Paper | |
| journal volume | 6 | |
| journal issue | 1 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4025623 | |
| journal fristpage | 11004 | |
| journal lastpage | 11004 | |
| identifier eissn | 1942-4310 | |
| tree | Journal of Mechanisms and Robotics:;2014:;volume( 006 ):;issue: 001 | |
| contenttype | Fulltext |