1. Date of download: 1/1/2018
Copyright © ASME. All rights reserved.
From: Introducing the Theory of Bonds for Stewart Gough Platforms With Self-Motions1
J. Mechanisms Robotics. 2013;6(1): doi: /
Figure Legend:
A SG manipulator with planar platform and planar base (Ci = ci = 0 for i = 1,…,6) is called planar SG manipulator

2. Date of download: 1/1/2018
Copyright © ASME. All rights reserved.
From: Introducing the Theory of Bonds for Stewart Gough Platforms With Self-Motions1
J. Mechanisms Robotics. 2013;6(1): doi: /
Figure Legend:
Sketch of the platform (left) and the base (right) of the planar SG manipulator of Example 3, where M1 = M2 and m5 = m6 hold

3. Date of download: 1/1/2018
Copyright © ASME. All rights reserved.
From: Introducing the Theory of Bonds for Stewart Gough Platforms With Self-Motions1
J. Mechanisms Robotics. 2013;6(1): doi: /
Figure Legend:
Sketch of the platform (left) and the base (right) of a planar SG manipulator with pairwise distinct anchor points, where Bi = ai = 0 for i = 1,…,4 and A5 = A6 = b5 = b6 = 0 hold

4. Date of download: 1/1/2018
Copyright © ASME. All rights reserved.
From: Introducing the Theory of Bonds for Stewart Gough Platforms With Self-Motions1
J. Mechanisms Robotics. 2013;6(1): doi: /
Figure Legend:
Left: spherical 3-DOF RPR manipulator. Right: w.l.o.g. we can assume that m1° and m3° coincide (after a perhaps necessary exchange of the platform and the base and reindexing of anchor points). In the configuration, where m1° = m3° coincides with M2°, the platform has a trivial rotational self-motion.