A New Method for Solving the Direct Kinematics of 6-DOF SPS
A novel method is introduced. Simplify Stewart platform by using of group technology. Six legs 6-6 Stewart Platform is transformed into three group legs Stewart platform by way of geometrical knowledge and numerical analysis. Make emulational program of Matlab 6.5 to validate the method of direct kinematics. Velocity and precision of computing are advanced by repeatedly optimizing of method. The method is scientific and novel.
Chengyu Jiang, Geng Liu, Dinghua Zhang and Xipeng Xu
Q. Li and H. B. Yan, "A New Method for Solving the Direct Kinematics of 6-DOF SPS", Materials Science Forum, Vols. 532-533, pp. 889-892, 2006