We transfer the basic idea of bonds, introduced by Hegedüs, Schicho, and Schröcker for overconstrained closed chains with rotational joints, to the theory of self-motions of parallel manipulators of Stewart Gough (SG) type. Moreover, we present some basic facts and results on bonds and demonstrate the potential of this theory on the basis of several examples. As a by-product we give a geometric characterization of all SG platforms with a pure translational self-motion and of all spherical three-degrees of freedom (DOF) RPR manipulators with self-motions.
Introducing the Theory of Bonds for Stewart Gough Platforms With Self-Motions1
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received January 22, 2013; final manuscript received July 27, 2013; published online November 8, 2013. Assoc. Editor: J. M. Selig.
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Nawratil, G. (November 8, 2013). "Introducing the Theory of Bonds for Stewart Gough Platforms With Self-Motions." ASME. J. Mechanisms Robotics. February 2014; 6(1): 011004. https://doi.org/10.1115/1.4025623
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