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The Forward Kinematics Analysis of 6-3 Stewart Parallel Mechanisms

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Intelligent Robotics and Applications (ICIRA 2010)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 6424))

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Abstract

In order to study the forward kinematics analysis of 6-3 Stewart parallel mechanisms, this paper presents a new analytical method. Analyzing the coupling relationships between the position and orientation variables of the moving platform, additional useful information is obtained, thus eleven compatible algebra equations used to solve this problem are obtained. Based on this, the orthogonal complement method has been used several times to eliminate the redundant variables, the forward kinematics of 6-3 Stewart parallel mechanisms can be expressed as an eight order equation in the end. Finally a specific example is introduced to verify the method offered in this paper.

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References

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Author information

Authors and Affiliations

  1. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Yudao Street.29, 210016, Nanjing, China

    Shili Cheng, Hongtao Wu, Chaoqun Wang, Yu Yao & Jianying Zhu

  2. College of Engineering, Nanjing Agricultural University, Dianjiangtai Road. 40, 210031, Nanjing, China

    Chaoqun Wang

  3. College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Yudao Street.29, 210016, Nanjing, China

    Yu Yao

Authors
  1. Shili Cheng
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  2. Hongtao Wu
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  3. Chaoqun Wang
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  4. Yu Yao
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  5. Jianying Zhu
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Editor information

Editors and Affiliations

  1. School of Creative Technologies, The University of Portsmouth, PO1 2DJ, Portsmouth, UK

    Honghai Liu

  2. Robotics Institute, Shanghai Jiao Tong University, 200240, Shanghai, China

    Han Ding , Zhenhua Xiong  & Xiangyang Zhu ,  & 

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© 2010 Springer-Verlag Berlin Heidelberg

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Cheng, S., Wu, H., Wang, C., Yao, Y., Zhu, J. (2010). The Forward Kinematics Analysis of 6-3 Stewart Parallel Mechanisms. In: Liu, H., Ding, H., Xiong, Z., Zhu, X. (eds) Intelligent Robotics and Applications. ICIRA 2010. Lecture Notes in Computer Science(), vol 6424. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16584-9_40

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  • DOI: https://doi.org/10.1007/978-3-642-16584-9_40

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-16583-2

  • Online ISBN: 978-3-642-16584-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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