Direct Kinematics Analysis of a Special Class of the Stewart Manipulators
This paper addresses the direct kinematics of a special class of the 6-6 SPS Stewart manipulators in which the mobile and base platforms are two similar semisymmetrical hexagons. After proposing a mathematical model of the direct kinematic problem of this class of the 6-6 SPS Stewart manipulators,a multivariate polynomial equations set with respect to the moving platform position parameters and orientation parameters is constructed in which input-parameters are design parameters and six given link-lengths of this special class of the Stewart manipulators.Based on this multivariate polynomial equations set,the complete analytical expression of the solutions which have in total at most 28 in the complex domain,to the direct kinematics of this special class of the Stewart manipulators can be easily and directly solved by utilizing a sophisticated commercial symbolic computation software,MATHEMATICA.Computation results have shown that not only this approach presented in this paper is simple and efficient than existing approaches,but also an arduous and complicated derivation and solving task can be avoided and a lot of computation time can be saved.Examples of the direct kinematics analysis of a 6-6 SPS Stewart manipulator under investigation are given to demonstrate the aforementioned theoretical results.Direct kinematics analysis of this special class of the 6-6 SPS Stewart manipulators paves underlying theoretical grounds for the workspace analysis,path planning and control of this class of the Stewart manipulators.
Stewart Manipulator Direct Kinematics Symbolic Computation MATHEMATICA Software
Xiaogang Ji Yi Cao Hui Zhou Jinghu Yu
School of Mechanical Engineering,Jiangnan University Wuxi,Jiangsu 214122,China
国际会议
大连
英文
1070-1078
2008-07-27（万方平台首次上网日期，不代表论文的发表时间）