Abstract
A Stewart-Gough platform, whose base attachment points occupy a particular cubic surface, may exhibit continuous motion while all six prismatic actuators are locked. Line geometric analysis reveals that, during such motion, the six leg axes remain in a specific linear complex, congruence or hyperboloidal ruled surface. Furthermore the pose or direct kinematics of any platform, five of whose leg base attachment points lie in such a cubic surface, is readily obtained and admits no more than four real solutions.
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© 1994 Springer Science+Business Media Dordrecht
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Husty, M.L., Zsombor-Murray, P. (1994). A Special Type of Singular Stewart-Gough Platform. In: Lenarčič, J., Ravani, B. (eds) Advances in Robot Kinematics and Computational Geometry. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-8348-0_45
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DOI: https://doi.org/10.1007/978-94-015-8348-0_45
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