Forward displacement analysis of a general 6-3 Stewart platform using conformal geometric algebra (Q1992781): Difference between revisions
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Revision as of 01:08, 22 February 2024
scientific article
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Forward displacement analysis of a general 6-3 Stewart platform using conformal geometric algebra |
scientific article |
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Forward displacement analysis of a general 6-3 Stewart platform using conformal geometric algebra (English)
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5 November 2018
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Summary: In this paper, a new algorithm for the forward displacement analysis of a general 6-3 Stewart platform (6-3SPS) based on conformal geometric algebra (CGA) is presented. First, a 6-3SPS structure is changed into an equivalent 2RPS-2SPS structure. Then, two kinematic constraint equations are established based on the geometric characteristics, one of which is built according to the point characteristic four-ball intersection in CGA. A 16th-degree univariate polynomial equation is derived from the aforementioned two equations by the Sylvester resultant elimination. Finally, a numerical example is given to verify the algorithm.
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