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Título:
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The forward kinematics of doubly-planar Gough-Stewart platforms and the position analysis of strips of tetrahedra
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Autor/a:
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Porta Pleite, Josep Maria; Thomas, Federico
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Otros autores:
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Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. KRD - Cinemàtica i Disseny de Robots |
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Abstract:
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The final publication is available at link.springer.com |
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Abstract:
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A strip of tetrahedra is a tetrahedron-tetrahedron truss where any tetrahedron has two neighbors except those in the extremes which have only one. The problem of finding all the possible lengths for an edge in the strip compatible with a given distance imposed between the strip end-points has been revealed of relevance due to the large number of possible applications. In this paper, this is applied to solve the forward kinematics of 6-6 Gough-Stewart platforms with planar base and moving platform, a problem which is known to have up to 40 solutions (20 if we do not consider mirror configurations with respect to the base as different solutions). |
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Abstract:
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Peer Reviewed |
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Materia(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica
-Robots
-Position analysis
-Closed-form solutions
-Distance Geometry
-Gough-Stewart platform
-Classificació INSPEC::Automation::Robots |
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Derechos:
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Tipo de documento:
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Artículo - Versión presentada
Objeto de conferencia |
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Editor:
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Springer
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Compartir:
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