Title :
Forward kinematic analysis for the general 4-6 Stewart platform
Author :
Liao, Qizheng ; Seneviratne, L.D. ; Earles, S.W.E.
Author_Institution :
Dept. of Mech. Eng., King´´s Coll., London, UK
Abstract :
Presented is the forward kinematic solution for the most general case of the 4-6 Stewart platform mechanism, in particular, the spherical joints of both the top and the base platforms are not restricted to be in a single plane. The problem is reduced to a 32nd order polynomial equation in a single unknown. This new theoretical analysis is numerically verified
Keywords :
manipulators; 4-6 Stewart platform; forward kinematics; polynomial equation; robotics; spherical joints; Couplings; Educational institutions; End effectors; Equations; Kinematics; Leg; Manipulators; Mechanical engineering; Parallel robots; Polynomials;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583860
