TY - GEN
T1 - The proper motion domain for the actuators of Stewart-Gough platform
AU - Zeng, Rui
AU - Zhao, Yongjia
AU - Dai, Shuling
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2015/1/12
Y1 - 2015/1/12
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/84922496575
U2 - 10.1109/CGNCC.2014.7007441
DO - 10.1109/CGNCC.2014.7007441
M3 - 会议稿件
AN - SCOPUS:84922496575
T3 - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
SP - 1706
EP - 1711
BT - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
Y2 - 8 August 2014 through 10 August 2014
ER -