Forward displacement analysis of the general 6-6 Stewart mechanism using Grobner bases

被引：58

作者：

Gan, Dongming ^{[1
,2
]}

Liao, Qizheng ^{[2
]}

Dai, Jian S. ^{[1
]}

Wei, Shimin ^{[2
]}

Seneviratne, L. D. ^{[1
]}

机构：

[1] Kings Coll London, Sch Phys Sci & Engn, Dept Mech Engn, Strand, London WC2R 2LS, England

[2] Beijing Univ Posts & Telecommun, Beijing 100876, Peoples R China

来源：

MECHANISM AND MACHINE THEORY | 2009年 / 44卷 / 09期

基金：

中国国家自然科学基金;

关键词：

General 6-6 Stewart mechanism; Forward displacement analysis; Grobner basis; KINEMATICS; PLATFORM; ALGORITHM;

D O I：

10.1016/j.mechmachtheory.2009.01.008

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A new algorithm for the solution of the forward displacement analysis of the general 6-6 Stewart mechanism is presented in this paper. Grobner basis theory is used and the problem of the forward displacement is reduced to a 40th-degree polynomial equation in a single unknown from a constructed 13 x 13 Sylvester's matrix which is relatively small in the size, from which 40 different locations of the moving platform can be derived. Numerical examples confirm the efficiency of the procedure. (C) 2009 Elsevier Ltd. All rights reserved.

引用

页码：1640 / 1647

页数：8

共 14 条

[1] BHASKAR D, 2000, MECH MACH THEORY, V35, P15
[2] BOTTEMA O, THEORETICAL KINEMATI, P9
[3] Buchberger B., Multidimensional Systems Theory, P184
[4] CLARK J, 2005, ROBOTICS, P47
[5] Closed-form displacement and coupler curve analysis of planar multi-loop mechanisms using Grobner bases
Dhingra, AK
Almadi, AN
Kohli, D
[J]. MECHANISM AND MACHINE THEORY, 2001, 36 (02) : 273 - 298
[6] DHINGRA AK, 2000, ASME, V122, P431
[7] An algorithm for solving the direct kinematics of general Stewart-Gough platforms
Husty, ML
[J]. MECHANISM AND MACHINE THEORY, 1996, 31 (04) : 365 - 379
[8] INNOCENTI C, 1998, P ASME DETC98 MECH 5
[9] INNOCENTI C, 1991, ICAR 91, P851
[10] Improved dialytic elimination algorithm for the forward kinematics of the general Stewart-Gough platform
Lee, TY
Shim, JK
[J]. MECHANISM AND MACHINE THEORY, 2003, 38 (06) : 563 - 577

← 1 2 →