This paper presents the classification of direct kinematics for the planar generalized Stewart platform (GSP) which consists of two rigid bodies connected by three constraints between three pairs of points or lines in the base and the moving platforms. For each of the sixteen forms of planar GSPs, we give the explicit conditions on the parameters for the GSPs to have a given number of real solutions. © 2012 Elsevier B.V. All rights reserved.
Zhang, G. F. (2012). Classification of direct kinematics to planar generalized Stewart platforms. In Computational Geometry: Theory and Applications (Vol. 45, pp. 458–473). https://doi.org/10.1016/j.comgeo.2010.06.007