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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    Title :

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


    Contributors:
    Rui, Zeng (author) / Yongjia, Zhao (author) / Shuling, Dai (author)


    Publication date :

    2014-08-01


    Size :

    195373 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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