A “3-2-1” kinematic configuration of a Stewart platform and its application to six degree of freedom pose measurements

Zhang, Geng; Haynes, L.

doi:10.1016/0736-5845(94)90004-3

Cited by 53 publications

(32 citation statements)

References 2 publications

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“…This clearly limited its use in real-time measurements. Alternatively, (Geng, 1994) and (Ceccarelli et al, 1999) used a wire configuration equivalent to a 3-2-1 GoughSteward platform whose direct kinematics can be solved in closed-form by using trilateration.…”

Section: Introductionmentioning

confidence: 99%

Uncertainty Model and Singularities of 3-2-1 Wire-Based Tracking Systems

Thomas

Ottaviano

Ros

et al. 2002

Advances in Robot Kinematics

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This paper presents an ellipsoidal set-membership uncertainty model for wire-based tracking systems with wire length uncertainties and joint clearances. Although the proposed model is valid for any number of wires and configurations, including singularities, it has been particularized to a 3-2-1 parallel wire mechanism. The Euler's tetrahedron formula has been used to obtain a numerically stable solution to the direct kinematics of this particular tracking system as well as a compact characterization of its singularities directly expressed in terms of the wire lengths. It is also shown that these singularities, when expressed in the configuration space of the moving element, can be identified as C-surfaces associated with the three basic contacts between polyhedra, which have been widely studied in the context of path planning.

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Section: Introductionmentioning

confidence: 99%

Uncertainty Model and Singularities of 3-2-1 Wire-Based Tracking Systems

Thomas

Ottaviano

Ros

et al. 2002

Advances in Robot Kinematics

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“…We can find many studies [12][13][14][15][16][17][18][19] on fully and partially decoupled parallel manipulators and mechanisms. Structural synthesis of partially decoupled parallel mechanism with six connecting chains has been done [18].…”

Section: Condition Of Mechanism Structurementioning

confidence: 99%

Kinematic Design of a Translational Parallel Manipulator with Fine Adjustment of Platform Orientation

Tanabe

Takeda

2010

Advances in Mechanical Engineering

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We present a kinematic design of a translational parallel manipulator with fine adjustment capability of platform orientation. In order to clarify possible kinematic structures for it, structural synthesis of fully decoupled mechanism and partially decoupled mechanism both with six degrees of freedom (dof) was carried out based on the synthesis results of translational and rotational parallel mechanisms with three dof. All possible kinematic structures were obtained. Of these, one partially decoupled mechanism was selected and a kinematic design of a prototype manipulator was done. Its characteristics in terms of workspace, singularity, orientation adjustment capability, and coupling characteristics between translational and rotational displacement were discussed with experimental results regarding fine adjustment capability of platform orientation.

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“…Some techniques to calibrate for specific errors have already been proposed in the literature. For example, a method for compensating the cable guide outlet shape of wire encoders is detailed in [3], and a method for compensating the deflections caused by wire self-weights is described in [4]. In this paper, we will only consider wire-length errors that cannot be compensated because of their random nature.…”

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confidence: 99%

A Wire-Based Active Tracker

Andrade‐Cetto

Thomas

2008

IEEE Trans. Robot.

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Abstract-Wire-based tracking devices are an affordable alternative to costly tracking devices. They consist of a fixed base and a platform, attached to the moving object, connected by six wires whose tension is maintained along the tracked trajectory. One important shortcoming of these devices is that they are forced to operate in reduced workspaces so as to avoid singular configurations. Singularities can be eliminated by adding more wires, but this causes more wire interferences, and a higher force exerted on the moving object by the measuring device itself. This paper shows how, by introducing a rotating base, the number of wires can be reduced to three, and singularities can be avoided by using an active sensing strategy. This also permits reducing wire interference problems and the pulling force exerted by the device.

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A “3-2-1” kinematic configuration of a Stewart platform and its application to six degree of freedom pose measurements

Cited by 53 publications

References 2 publications

Uncertainty Model and Singularities of 3-2-1 Wire-Based Tracking Systems

Uncertainty Model and Singularities of 3-2-1 Wire-Based Tracking Systems

Kinematic Design of a Translational Parallel Manipulator with Fine Adjustment of Platform Orientation

A Wire-Based Active Tracker

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