Semi-numerical solution to 6/6-Stewart-platform kinematics based on symmetry

DOI10.1007/BF01293263MaRDI QIDQ1925012zbMATH OpenFDO

Authors Sebastian Egner

Publication date 15 June 1997

Published in Applicable Algebra in Engineering, Communication and Computing (Search for Journal in Brave)

zbMATH Keywords

symmetryNewton's methodquaternionspolynomial equationsparallel manipulatorsclosed-loop architecturesconstant orientationconstant positiondirect and inverse kinematicskinematic transformations

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Computational methods for problems pertaining to mechanics of particles and systems (70-08)

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(7)

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• Closed-form forward kinematics for a symmetrical 6-6 Stewart platform using algebraic elimination
• Modeling and evaluation of the Stewart platforms
• Kinematics of an X-ray mirror tripod isomorphic to a 6-3 Stewart platform
• An algebraic formulation of static isotropy and design of statically isotropic 6-6 Stewart platform manipulators
• Automated Deduction in Geometry
• Forward displacement analysis of the general 6-6 Stewart mechanism using Gröbner bases

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