KINEMATIC ANALYSIS OF A STEWART PLATFORM MANIPULATOR

被引：143

作者：

LIU, K

FITZGERALD, JM

LEWIS, FL

机构：

[1] Automation & Robotics Research Institute., The University of Texas at Arlington, Fort Worth

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 1993年 / 40卷 / 02期

基金：

美国国家科学基金会;

关键词：

D O I：

10.1109/41.222651

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The Stewart platform manipulator is a fully parallel kinematic linkage system that has major mechanical differences from typical serial link robots. Its closed kinematic chain and parallel linkage structure give it great rigidity and a high force-to-weight ratio. However, due to the lack of efficient algorithms for solving the kinematic equations, its potential application as a robotic manipulator is difficult to realize. This paper proposes a simplified algorithm to solve the forward kinematics of a six-links, six-degrees-of-freedom Stewart platform. The proposed algorithm involves solving only three nonlinear simultaneous equations. The explicit expressions for some special configurations are derived that can directly give the geometric limitations to motion (such as the highest position, lowest position, most tilted position, most twisted position, etc.) in terms of the geometric dimensions of the platforms and the legs. This information is being used to direct the design of an actual Stewart platform at Automation & Robotics Research Institute, The University of Texas at Arlington.

引用

页码：282 / 293

页数：12

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