A Novel Geometric Modeling and Solution Method for Forward Displacement Analysis of 6-3 Stewart Platforms
In this paper,we propose a novel modeling and solution method for the forward displacement analysis of 6-3 Stewart platforms based on Conformal Geometric Algebra (CGA).First of all,one of three unknown vertices on the moving platform is expressed with the angle that measuring the elevation of a triangular face relative to the base reference system.Then,the other two unknown vertices are established with the aforementioned angle and the scale ratio based on CGA.Finally,a 16th-degree univariate polynomial equation is reduced from two geometric constraint equations by constructing a 4 by 4 Sylvester resultant matrix.At last,a numerical example is deployed to verify the procedure.The novelty of this paper lies in that only one step elimination procedure is required to derive the 16th-degree polynomial equation and the modeling formulation and the elimination procedure can be understood with geometric intuition.
Forward displacement analysis 6-3 Stewart platforms Conformal geometric algebra Sylvester resultant
Ying Zhang Qizheng Liao Shimin Wei Feng Wei Duanling Li
School of Automation, Beijing University of Posts and Telecommunication,Beijing 100086, China
国际会议
广州
英文
911-924
2016-12-15（万方平台首次上网日期，不代表论文的发表时间）