Abstract
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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Acknowledgements
This work has been partially supported by the Spanish Ministry of Economy and Competitiveness through projects DPI2014-57220-C2-2-P, DPI2017-88282-P, and MDM-2016-0656.
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Porta, J.M., Thomas, F. (2019). The Forward Kinematics of Doubly-Planar Gough-Stewart Platforms and the Position Analysis of Strips of Tetrahedra. In: Lenarcic, J., Parenti-Castelli, V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham. https://doi.org/10.1007/978-3-319-93188-3_15
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DOI: https://doi.org/10.1007/978-3-319-93188-3_15
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