This paper presents a novel method for the kinematic optimization of Stewart-Gough platform. A proper motion domain should satisfy three kinds of requirements: realization of direct motion target, singularity-free kinematics and uniqueness of direct kinematics solution. The rationality of these requirements is proved then. After present a group of combined constraints for motion domain optimization, an engineering optimization method is used finally on a Stewart mechanism to obtain a proper motion domain for the actuators.


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    Titel :

    The proper motion domain for the actuators of Stewart-Gough platform


    Beteiligte:
    Rui, Zeng (Autor:in) / Yongjia, Zhao (Autor:in) / Shuling, Dai (Autor:in)


    Erscheinungsdatum :

    2014-08-01


    Format / Umfang :

    195373 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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