Kinematic Solution of 6-DOF Stewart Mechanism Applying Mathematic and Simulation Method

Xue Ling Zhang; Xiu Bing Duan; Shu Feng Chai

doi:10.4028/www.scientific.net/AMM.271-272.991

Paper Titles

Innovative Design of Device of Conical Deep-Hole Boring
p.969

Integration of Conceptual Design and MOKA into CATIA v5: A Knowledge-Based Application for an Aircraft Y-Bolt Component
p.974

Jitter Transmission Analysis and Experimental Research for Frame Structure in the Median and High Frequency Regions
p.981

Key Technology Research on Rimming Fixture Design
p.986

Kinematic Solution of 6-DOF Stewart Mechanism Applying Mathematic and Simulation Method
p.991

Kinematics Performance Simulation and Optimization of Large Face-Shovel Hydraulic Excavator Working Device Based on ADAMS
p.996

Kinetics Analysis on 2PPRR-ST-2PPRR Mechanism
p.1001

Machining Process Knowledge Discovery Technology: On the Basis of MBD Process Model
p.1006

Mechanics Analysis of Omni-Directional Mecanum-Wheel Based on FEM
p.1012

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 271-272Kinematic Solution of 6-DOF Stewart Mechanism...

Kinematic Solution of 6-DOF Stewart Mechanism Applying Mathematic and Simulation Method

Abstract:

In order to control the 6-DOF Stewart mechanisms to move accurately with given position and pose, technology of virtual reality, simulation and modeling are adopted, kinematic/dynamic model of Stewart mechanisms is built, under the physical displacement its movement is computed and simulated, by which the difficult problem of solving the normal kinematics solution of Stewart mechanisms is solved. Compare the pose curves of mechanisms top platform which are initialized and solved by simulation, the resemblance of two curves shows that the solving method of Stewart mechanisms is correct and accurate, and it can be used in controlling of real mechanisms.

You might also be interested in these eBooks

Frontiers of Manufacturing and Design Science III

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 271-272)

Pages:

991-995

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.271-272.991

Citation:

Cite this paper

Online since:

December 2012

Authors:

Xue Ling Zhang, Xiu Bing Duan, Shu Feng Chai

Keywords:

Kinematics Analysis, Modeling, Simulation, Stewart Mechanism

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] J. c. Hudgens, D. Tesar, in: A Fully-Parallel Six Degree of Freedom Micro manipulator, Kinematics Analysis and Dynamic Model, Proc. 20th Biennial Asme Mechanisms Conf, Trends and Development in Mechanisms Machines and Robotic, 1998, 15(3): 29~37.

Google Scholar

[2] Dasgupta B, Mruthyunjaya T S, in: Closed-from dynamic equations of the general Stewart platform through the Newton-Euler approach. MechMach Theory, 1998, 33(7): 993~1012.

DOI: 10.1016/s0094-114x(97)00087-6

Google Scholar

[3] Wen Fuan, Liang Conggao and Liao Qizheng: Forward Position for Parallel Manipulator, China mechanical Engineering, 1999, 10(9): 1011~1013.

Google Scholar

[4] Wang Qizhi , Xu Xinhe, in: Analysis of Normal Kinemics solution of Parallel Manipulator, Journal of northeastern University(natural science edition , 1999, 20(4): 359~361.

Google Scholar

[5] Xu Weiping, Zhang Yuru, in: Kinemics Analysis of Six Degree of Freedom Micro manipulator, Journal of robot, 1995, 17(5): 298~302.

Google Scholar

[6] Wang Suqun, in: System Design of VR-based Motion Simulator for Wheeled Vehicle on 3D Terrain Application, Master dissertation, Taipei: Institute of Electrical Engineering Science, (2003).

Google Scholar