Paper Title:
An Algebraic Method for Direct Position Analysis of the General Stewart Platform Manipulator Robot
  Abstract

Stewart platform manipulator robot is a six degree of freedom, parallel manipulator, which consists of a base platform, a mobile platform and six limbs connected at six distinct points on the base platform and the mobile platform respectively. The direct position analysis problem of Stewart platform relates to the determination of the mobile platform pose for a given set of the lengths of the limbs. In this paper, we present a concise algebraic method for solving the direct position analysis problem for the fully parallel manipulator with general geometry, often referred to as General Stewart platform manipulator. Based on the presented algebraic method, we derive a 40th degree univariate polynomial from a determinant of 20×20 Sylvester’s matrix, which is relatively small in size. We also obtain a complete set of 40 solutions to the most general Stewart platform. The proposed method is comparatively concise and reduces the computational burden. Finally the method is demonstrated by a numerical example.

  Info
Periodical
Materials Science Forum (Volumes 626-627)
Edited by
Dongming Guo, Jun Wang, Zhenyuan Jia, Renke Kang, Hang Gao, and Xuyue Wang
Pages
405-410
DOI
10.4028/www.scientific.net/MSF.626-627.405
Citation
X. G. Huang, G. P. He, Q.Z. Liao, "An Algebraic Method for Direct Position Analysis of the General Stewart Platform Manipulator Robot", Materials Science Forum, Vols. 626-627, pp. 405-410, 2009
Online since
August 2009
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Price
$32.00
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