On Stewart Gough manipulators with multidimensional self-motions

DOI10.1016/j.cagd.2014.02.012zbMath1364.70008OpenAlexW2160659612MaRDI QIDQ2396308

Georg Nawratil

Publication date: 8 June 2017

Published in: Computer Aided Geometric Design (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.cagd.2014.02.012

zbMATH Keywords

bond theoryStewart Gough platformBorel Bricard problemself-motionkinematotropy

Mathematics Subject Classification ID

Kinematics of a rigid body (70B10) Kinematics of mechanisms and robots (70B15) Numerical aspects of computer graphics, image analysis, and computational geometry (65D18)

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• Types of self-motions of planar Stewart Gough platforms
• From higher degrees of shakiness to mobility
• Architecturally singular planar parallel manipulators.
• Architecturally singular non-planar parallel manipulators
• Parallel robots that change their group of motion

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