Closed-form forward kinematics for a symmetrical 6-6 Stewart platform using algebraic elimination

DOI10.1016/J.MECHMACHTHEORY.2009.09.008MaRDI QIDQ2269121zbMATH OpenOpenAlexFDO

Authors Xiguang Huang, Qizheng Liao, Shimin Wei

Publication date 16 March 2010

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2009.09.008

zbMATH Keywords

direct kinematicsclosed-form solutionsStewart platform

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Cited in

(10)

• Forward kinematics of a class of parallel (Stewart) platforms with closed-form solutions
• An algebraic formulation of static isotropy and design of statically isotropic 6-6 Stewart platform manipulators
• Forward displacement analysis of the general 6-6 Stewart mechanism using Gröbner bases
• Design of Neural Network-Based Adaptive Inverse Dynamics Controller for Motion Control of Stewart Platform
• An improved mathematical model for hyper redundant hybrid mechanism based on the Lagrange method
• Improved general solution for the dynamic modeling of Gough-Stewart platform based on principle of virtual work
• A statistical approach to the forward kinematics nonlinearity analysis of Gough-Stewart mechanism
• Improved dialytic elimination algorithm for the forward kinematics of the general Stewart--Gough platform.
• Forward displacement analysis of a general 6-3 Stewart platform using conformal geometric algebra
• Forward kinematics of the general 6-6 Stewart platform using algebraic elimination

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