Abstract
This paper discusses the possibility of designing a redundant spatial parallel manipulator with a maximal forward kinematics solution set. We show that when the anchor points for the joints of the platform and base are planar, in almost every case an infinite number of legs may be added without changing the kinematics of the mechanism. The possible anchor points lie on a cubic which may be split into a line and a conic.
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© 2002 Springer Science+Business Media Dordrecht
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Husty, M., Mielczarek, S., Hiller, M. (2002). A Redundant Spatial Stewart-Gough Platform with a Maximal Forward Kinematics Solution Set. In: Lenarčič, J., Thomas, F. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0657-5_16
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DOI: https://doi.org/10.1007/978-94-017-0657-5_16
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-6054-9
Online ISBN: 978-94-017-0657-5
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