JOURNAL BROWSE
Search
Advanced SearchSearch Tips
A Fast Forward Kinematic Analysis of Stewart Platform
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
A Fast Forward Kinematic Analysis of Stewart Platform
Ha, Hyeon-Pyo; Han, Myeong-Cheol;
  PDF(new window)
 Abstract
The inverse kinematics problem of Stewart platform is straightforward, but no closed form solution of the forward kinematic problem has been presented. Since we need the real-time forward kinematic solution in MIMO control and the motion monitoring of the platform, it is important to acquire the 6 DOF displacements of the platform from measured lengths of six cylinders in small sampling period. Newton-Raphson method a simple algorithm and good convergence, but it takes too long calculation time. So we reduce 6 nonlinear kinematic equations to 3 polynomials using Nairs method and 3 polynomials to 2 polynomials. Then Newton-Raphson method is used to solve 3 polynomials and 2 polynomials respectively. We investigate operation counts and performance of three methods which come from the equation reduction and Newton-Raphson method, and choose the best method.
 Keywords
Stewart Platform;Forward Kinematics;Newton-Raphson Method;
 Language
Korean
 Cited by
1.
Error Analysis of a Parallel Mechanism Considering Link Stiffness and Joint Clearances,;;;;;;;

Journal of Mechanical Science and Technology, 2002. vol.16. 6, pp.799-809
2.
케이싱 오실레이터의 순기구학 해석,남윤주;박명관;

대한기계학회논문집A, 2004. vol.28. 12, pp.1845-1855 crossref(new window)
3.
6자유도 시뮬레이터의 설계인자 추정에 관한 연구,윤준석;송우진;변영섭;구태완;김정;강범수;

대한기계학회논문집A, 2010. vol.34. 4, pp.447-456 crossref(new window)
 References
1.
Dieudonne, J. E. and Perish, R. V., 1972, 'An Actuator Extension Transfor-mation for a Motion Simulator and Inverse Transformation Applying Newton-Raphson Method,' NASA Tech. Note, NASA TND-7607

2.
McCallion, H. and Truong, P. D., 1979, 'The Analysis of a Six-Degree-of-Freedom Work Station for Mechanised Assembly,' Proceedings of the Fifth World Congress for the Theory of Machines and Mechanisms, an ASME Publication, pp. 603-616

3.
Ku, Der-Ming, 1999, 'Direct Displacement Analysis of a Stewart Platform Mechanism,' Mechanism and Machine Theory, Vol. 34, pp. 453-465 crossref(new window)

4.
Nanua, P., Waldron, K. J. and Murthy, V., 1990, 'Direct Kinematic Solution of a Stewart Platform,' IEEE Transactins on Robotics and Automations, Vol. 6, No. 4, pp. 438-444 crossref(new window)

5.
Innocenti, C. and Parenti-Castelli, V., 1990, 'Direct Position Analysis of the Stewart Platform Mechanism,' Mechanism and Machine Theory, Vol. 25, No. 6, pp. 611-621 crossref(new window)

6.
Geng, Z., Haynes, L., Lee, J. and Carroll, R., 1992, 'On the Dynamic Model and Linematic Analysis of a Class of Stewart Platforms,' Journal of Robotics Automation Systems, Vol. 9, pp. 237-254 crossref(new window)

7.
Dasgupta, B. and Mruthyunjaya, T. S., 1994, 'A Canonical Formulation of the Direct Position Kinematics Problem For a General 6-6 Stewart Platform,' Mechanism and Machine Theory, Vol. 29, No. 6, pp. 819-827 crossref(new window)

8.
Nair, R. and Maddocks, J. H., 1994, 'On the Forward Kinematics of Parallel Manipulators,' The International Journal of Robotics Research, Vol. 13, No. 2, pp. 171-188 crossref(new window)

9.
정규홍, 이교일, 1994, '스튜어트 플랫폼 순기구학 해의 실시간 추정기법,' 대한기계학회논문집, 제18권, 제7호, pp. 1632-1642

10.
강지윤, 김동환, 이교일, 1996, '스튜어트 플랫폼의 견실한 순기구학 추정기 설계,' Proceedings of the 11th KACC, October 1996, pp. 28-31

11.
이형상, 한명철, 1998, '신경망을 이용한 스튜어트 플랫폼의 순기구학 추정기 설계,' Proceedings of the 13th KACC, October 1998, pp. 1280-1284

12.
Ma, O. and Angeles, J., 1991, 'Architecture Singularities of Platform Manipulators,' Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, Califonia, pp. 1542-1547 crossref(new window)

13.
John, J. Craig, 1989, Introduction to Robotics, Addison Wesley

14.
Steven J. Leon, 1994, Linear Algebra with Applications, Prentice Hall

15.
Raghvan, M., 1993, 'The Platform of General Geometry has 40 Configurations,' ASME Journal of Mechanical Design, Vol. 115, pp. 277-282