• DocumentCode
    1561070
  • Title

    Direct kinematic solution of a Stewart platform

  • Author

    Nanua, Prabjot ; Waldron, Kenneth J.

  • fYear
    1989
  • Firstpage
    431
  • Abstract
    The Stewart platform is a fully parallel, six-degree-of-freedom manipulator mechanism. A solution of the direct kinematics problem for the Stewart platform is presented for the case in which the six limbs form three concurrent pairs at either the base or the hand member. The solution is shown to be reducible to a 24th-order polynomial equation in tan(φr/2). It is also shown that, for a given set of link lengths, the Stewart platform can be assembled in 24 different configurations
  • Keywords
    kinematics; polynomials; robots; 24th-order polynomial equation; Stewart platform; direct kinematics problem; robots; six-degree-of-freedom manipulator mechanism; Aircraft; Equations; Manipulators; Mechanical engineering; Parallel robots; Polynomials; Robot kinematics;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
  • Conference_Location
    Scottsdale, AZ
  • Print_ISBN
    0-8186-1938-4
  • Type

    conf

  • DOI
    10.1109/ROBOT.1989.100025
  • Filename
    100025
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1561070