A Geometric Modeling and Computing Method for Direct Kinematic Analysis of 6-4 Stewart Platforms

A geometric modeling and solution procedure for direct kinematic analysis of 6-4 Stewart platforms with any link parameters is proposed based on conformal geometric algebra (CGA). Firstly, the positions of the two single spherical joints on the moving platform are formulated by the intersection, dis...

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Veröffentlicht in:	Mathematical problems in engineering 2018-01, Vol.2018 (2018), p.1-9
Hauptverfasser:	Liang, Changchun, Zhang, Xiaodong, Wang, Yaobing, Wei, Shimin, Liu, Xin, Zhang, Ying, Zhang, Pei
Format:	Artikel
Sprache:	eng
Schlagworte:	Algebra Engineering Geometric constraints International conferences Invariants Kinematics Mathematical models Mathematical problems Mechanical engineering Platforms Researchers Robotics Robots Theory
Online-Zugang:	Volltext
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