Kinematic Solution of 6-DOF Stewart Mechanism Applying Mathematic and Simulation Method

摘要：

　　In order to control the 6-DOF Stewart mechanisms to move accurately with given position and pose,technology of virtual reality,simulation and modeling are adopted,kinematic/dynamic model of Stewart mechanisms is built,under the physical displacement its movement is computed and simulated,by which the difficult problem of solving the normal kinematics solution of Stewart mechanisms is solved.Compare the pose curves of mechanisms top platform which are initialized and solved by simulation,the resemblance of two curves shows that the solving method of Stewart mechanisms is correct and accurate,and it can be used in controlling of real mechanisms.

关键词： Stewart Mechanism Kinematics Analysis Modeling Simulation

作者: ZHANG Xueling DUAN Xiubing CHAI Shufeng

作者单位: Military Transportation University, PLA, Tianjin 300161,China

会议类型: 国际会议

会议名称: 3rd International Conference on Frontiers of Manufacturing and Design Science(第三届制造与设计科学前沿国际会议(ICFMD))

会议地点: 香港

会议语种:英文

页码: 991-995

在线出版日期: 2012-12-11（万方平台首次上网日期，不代表论文的发表时间）