A novel approach in the direct kinematics of Stewart platform mechanisms with planar platforms

ID Akcali, H Mutlu - 2006 - asmedigitalcollection.asme.org
ID Akcali, H Mutlu
2006asmedigitalcollection.asme.org
In handling the kinematic analysis of two rigid bodies connected to each other by six legs
through the use of six double spherical joints, methods have been implemented both in the
formulation and solution phases of the problem. A three-dimensional problem has been
viewed, in fact, as a multitude of two-dimensional works on several planes, the intersections
of which yield relationships allowing transition between adjacent planes. Thus formulation is
purely based on the geometric structure consisting of eight planes of interest, ending in the …
Abstract
In handling the kinematic analysis of two rigid bodies connected to each other by six legs through the use of six double spherical joints, methods have been implemented both in the formulation and solution phases of the problem. A three-dimensional problem has been viewed, in fact, as a multitude of two-dimensional works on several planes, the intersections of which yield relationships allowing transition between adjacent planes. Thus formulation is purely based on the geometric structure consisting of eight planes of interest, ending in the three fundamental equations involving three angles between the base and side triangular planes. In solving the resulting three equations, an efficient strategy has been established to come up with 16 solution sets effectively. Extensions of the theory have been shown to include the analyses of other Stewart platform models. Efficiency and effectiveness of the approach has been verified on numerical examples.
The American Society of Mechanical Engineers
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