A new method for solving the direct kinematics of general 6-6 Stewart Platforms using three linear extra sensors

This paper presents a new method for solving the direct kinematics problem of a general Stewart Platform by using three linear extra sensors. The sensors are disposed at a most general way, connecting the non-planar base and the planar mobile platform at distinct points. The extra sensory data enables to reduce the problem to the solution of an overdetermined system of 6 quadratic equations in 3 unknowns. Random numerical examples have demonstrated the existence of a unique solution to this system.