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
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;
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
DOI :
10.1109/ICAR.1991.240568
