Assembly configuration simulation analysis of symmetrical Stewart platform

According to the homotopy function, we obtain all eight kinds of assembly configuration of symmetrical Stewart platform with homotopy iterative method. For figure visually these assembly configurations, we set up four multi-rigid-body models with ADAMS, whose horizontal movable platforms locate over the fixed base. At last, a numerical example illustrates visually that two configurations or more of Stewart platform superpose possibly one another for a given set of motion input parameters. When the manipulator comes very close to the superposition point, the manipulator will uncontrol, which is called configuration bifurcation.