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Forward kinematics solution for a general Stewart platform through iteration based simulation

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A Correction to this article was published on 06 March 2023

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Abstract

This paper presents a method to generate feasible, unique forward-kinematic solutions for a general Stewart platform. This is done by using inverse kinematics to obtain valid workspace data and corresponding actuator lengths for the moving platform. For parallel kinematic machines, such as the Stewart platform, inverse kinematics are straight forward, but the forward kinematics are complex and generates multiple solutions due to the closed loop structure of the kinematic links. In this research, a simple iterative algorithm has been used employing modified Denavit-Hartenberg convention. The outcome is encouraging as this method generates a single feasible forward kinematic solution for each valid pose with the solved DH parameters and unlike earlier forward kinematics solutions, this unique solution does not need to be manually verified. Therefore, the forward kinematic solutions can be used directly for further calculations without the need for manual pose verification. This capability is essential for the six degree of freedom materials testing system developed by the authors in their laboratory. The developed system is aimed at characterizing additively manufactured materials under complex combined multiple loading conditions. The material characterization is done by enabling high precision force control on the moving platform via in situ calibration of the as-built kinematics of the Stewart Gough platform.

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Acknowledgements

The authors would like to acknowledge the support of the Clemson University. All statements within are those of the authors and may or may not represent the views of these institutions.

Funding

The authors express their appreciation to the Clemson University who financially supported this work and to the United States Naval Research Laboratory in Washington, D.C. who provided technical insight and support for the design and operation of the TIGER 66.1 system through NCRADA-NRL-20–719.

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  1. Mechanical Engineering, Clemson University, Clemson, SC, USA

    Sourabh Karmakar & Cameron J. Turner

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  1. Sourabh Karmakar
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Contributions

All authors contributed to the conception and design of the research. Software coding, data collection and analysis, and preparation of the first draft were performed by Sourabh Karmakar. All authors commented on and contributed to previous manuscript versions. All authors read and approved the final manuscript.

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Correspondence to Cameron J. Turner.

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The original online version of this article was revised: References 15, 24 and 26 have incomplete details.

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Karmakar, S., Turner, C.J. Forward kinematics solution for a general Stewart platform through iteration based simulation. Int J Adv Manuf Technol 126, 813–825 (2023). https://doi.org/10.1007/s00170-023-11130-9

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