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CLOSED FORM DIRECT KINEMATICS OF A CLASS OF STEWART PLATFORM
Qizhi Wang
Associate Professor, College of Computer Information and Technology,
Northern Jiaotong University, Beijing 100044, P. R. China
This paper presents the closed form of direct kinematics for a class of Stewart platform. Algebraic technique is explored to establish the model of a class of Stewart platform and the sets of nonlinear polynomial equations are derived. A modified Dialytic elimination method is applied to solve sets of nonlinear polynomial equations. Finally a 24th degree polynomial equation is obtained. This new result has been numerically verified by the inverse kinematics.
Keywords: parallel manipulators, the direct kinematics, closed form
Session slot T-Fr-M19: Control of Robotic Systems/Area code 1d : Robotics
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