Abstract
The forward displacement analysis of the general Stewart platform has been a challenging problem. The accuracy and speed in determining the forward kinematical transformation for the platform become especially critical in the implementation of a real time controller. In this paper, a direct and exact method for determining the solution of the forward kinematics of the general Stewart platform by employing two extra linear displacement sensors in addition to the existing link ones. It can be shown that the transformation matrix for the Stewart platform can be directly computed by a set of explicit expressions.
Volume Subject Area:
23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls
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Copyright © 1994 by The American Society of Mechanical Engineers
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