Forward Kinematics of the 6-5 Planar Stewart Platform
This paper examines an efficient algebraic method to solve the forward kinematics problem of 6-5 planar Stewart platform is presented. Based on the algebraic method, we convert a non-linear equation system solving the problem into a 20th-degree univariate equation. We also find all solutions corresponding to the possible configurations of the platform for a given set of leg lengths. All computations are performed symbolically or using rational arithmetic. Therefore, no numerical error is incurred in the whole computation process. The result is verified by a numerical example, whose solutions agree with the original equations without extraneous roots.
Forward kinematics Parallel mechanism Closed-form solutions
Huang Xiguang He Guangpin Tan Xiaolan Li Duanling
North China University of Technology, Beijing, 100041, China Beijing University of Posts and Telecommunications, Beijing, 100876, China
国际会议
长沙
英文
1434-1437
2010-03-13（万方平台首次上网日期，不代表论文的发表时间）