Forward Displacement Analysis of a General 6-3 Stewart Platform Using Conformal Geometric Algebra

Feng Wei, Shimin Wei, Ying Zhang and Qizheng Liao

Mathematical Problems in Engineering, 2017, vol. 2017, 1-9

Abstract:

In this paper, a new algorithm for the forward displacement analysis of a general 6-3 Stewart platform (6-3SPS) based on conformal geometric algebra (CGA) is presented. First, a 6-3SPS structure is changed into an equivalent 2RPS-2SPS structure. Then, two kinematic constraint equations are established based on the geometric characteristics, one of which is built according to the point characteristic four-ball intersection in CGA. A 16th-degree univariate polynomial equation is derived from the aforementioned two equations by the Sylvester resultant elimination. Finally, a numerical example is given to verify the algorithm.

Date: 2017
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:4687638

DOI: 10.1155/2017/4687638

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