A canonical formulation of the direct position kinematics problem for a general 6-6 stewart platform

Dasgupta, Bhaskar and Mruthyunjaya, TS (1994) A canonical formulation of the direct position kinematics problem for a general 6-6 stewart platform. In: Mechanism and Machine Theory, 29 (6). 819 -827.

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Abstract

This paper deals with the direct position kinematics problem of a general 6-6 Stewart platform, the complete solution of which is not reported in the literature until now and even establishing the number of possible solutions for the general case has remained an unsolved problem for a long period. Here a canonical formulation of the direct position kinematics problem for a general 6-6 Stewart platform is presented. The kinematic equations are expressed as a system of six quadratic and three linear equations in nine unknowns, which has a maximum of 64 solutions. Thus, it is established that the mechanism, in general, can have up to 64 closures. Further reduction of the system is shown arriving at a set of three quartic equations in three unknowns, the solution of which will yield the assembly configurations of the general Stewart platform with far less computational effort compared to earlier models.

Item Type:	Journal Article
Publication:	Mechanism and Machine Theory
Publisher:	Elsevier Science
Additional Information:	Copyright of this article belongs to Elsevier Science.
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	03 Aug 2011 10:13
Last Modified:	03 Aug 2011 10:13
URI:	http://eprints.iisc.ac.in/id/eprint/36102

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