DocumentCode
3340922
Title
A novel numerical approach to the closure of the 6-6 Stewart platform mechanism
Author
Innocenti, Carlo ; Parenti-Castelli, Vincenzo
Author_Institution
DIEM-Facolta´´ di Ingegneria, Bologna Univ., Italy
fYear
1991
fDate
19-22 June 1991
Firstpage
851
Abstract
A new numerical method for the solution of the direct position analysis of the generalized Stewart platform mechanism is presented. The analysis aims to find the position and the orientation of the output controlled link when a set of actuator displacements is given. Most techniques attack this problem by solving a system of six nonlinear equations in six unknowns. The technique here presented reduces the analysis to the solution of a system of only three rational nonlinear equations in three unknowns.<>
Keywords
iterative methods; kinematics; matrix algebra; position control; robots; 6-6 Stewart platform mechanism; actuator displacements; closure; direct position analysis; iterative methods; matrix algebra; numerical method; position control; rational nonlinear equations; robots; Actuators; Aerospace simulation; Couplings; Displacement control; Nonlinear equations; Polynomials; Telephony; Testing; Tires; Topology;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location
Pisa, Italy
Print_ISBN
0-7803-0078-5
Type
conf
DOI
10.1109/ICAR.1991.240568
Filename
240568
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