A Fast Forward Kinematic Analysis of Stewart Platform

- Journal title : Transactions of the Korean Society of Mechanical Engineers A
- Volume 25, Issue 3, 2001, pp.339-352
- Publisher : The Korean Society of Mechanical Engineers
- DOI : 10.22634/KSME-A.2001.25.3.339

Title & Authors

A Fast Forward Kinematic Analysis of Stewart Platform

Ha, Hyeon-Pyo; Han, Myeong-Cheol;

Ha, Hyeon-Pyo; Han, Myeong-Cheol;

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

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