사면체 조합을 이용한 3-6형태의 스튜어트 플랫폼의 정기구학의 새로운 해석법A Novel Analytic Approach for the Forward Kinematics of the 3-6-type Stewart Platform Using Tetrahedron Configurations

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This paper presents a new analytic approach using tetrahedrons to determine the forward kinematics of the 3-6-type Stewart platform. By using of the tetrahedral geometry, this approach has the advantage of greatly reducing the complexity of formulation and the computational burden required by the conventional methods which have been solved the forward kinematics with three unknown angles. As a result, this approach allows a significant abbreviation in the formulations and provides an easier means of obtaining the solutions. The proposed method is well verified through a series of numerical simulation.
Issue Date
2000-10
Language
KOR
Citation

제어로봇시스템학회 2000년도 제15차 한국자동제어학술회의 , pp.430 - 430

URI
http://hdl.handle.net/10203/136950
Appears in Collection
ME-Conference Papers(학술회의논문)
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