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Solution of nonlinear kinematics of a parallel-link constrained Stewart platform manipulator

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Abstract

The Stewart platform manipulator is a fully parallel kinematic linkage system that has great advantages over typical serial link robots. However, one major problem in controlling this kind of manipulator is that, due to its closed kinematic chain and parallel-link constrained structure, it is impossible to derive an explicit kinematic solution. This paper proposes a simplified algorithm to numerically solve the forward kinematics of a six-links Stewart platform. Taking advantage of some fundamental geometric operations, the proposed algorithm involves only 3 nonlinear simultaneous equations. The explicit expressions are derived for some special configurations which can directly give the geometric limitations to motion in terms of the geometric dimensions of the platforms and the legs.

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Authors and Affiliations

  1. Automation & Robotics Research Institute, The University of Texas at Arlington, 7300 Jack Newell Blvd. S, 76118, Fort Worth, Texas

    K. Liu, F. L. Lewis & M. Fitzgerald

Authors
  1. K. Liu
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  2. F. L. Lewis
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  3. M. Fitzgerald
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Additional information

Research was supported by Texas Advanced Technology program under grant 003656-008 and National Science Foundation under grant MSS9211970.

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Liu, K., Lewis, F.L. & Fitzgerald, M. Solution of nonlinear kinematics of a parallel-link constrained Stewart platform manipulator. Circuits Systems and Signal Process 13, 167–183 (1994). https://doi.org/10.1007/BF01188104

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  • DOI: https://doi.org/10.1007/BF01188104

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