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

被引：43

作者：

Bonev, IA ^{[1
]}

Ryu, J ^{[1
]}

机构：

[1] Kwangju Inst Sci & Technol, Dept Mechatron, Buk Ku, Kwangju 500712, South Korea

来源：

MECHANISM AND MACHINE THEORY | 2000年 / 35卷 / 03期

关键词：

D O I：

10.1016/S0094-114X(99)00009-9

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

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. (C) 1999 Elsevier Science Ltd. All rights reserved.

引用

页码：423 / 436

页数：14

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