Forward Displacement Analysis of a General 6-3 Stewart Platform Using Conformal Geometric Algebra

被引：8
|
作者：
Wei, Feng [1 ,2 ]
Wei, Shimin [1 ]
Zhang, Ying [1 ]
Liao, Qizheng [1 ]
机构：
[1] Beijing Univ Posts & Telecommun, Sch Automat, Beijing 100086, Peoples R China
[2] Henan Polytech Univ, Sch Mech & Power Engn, Jiaozuo 454000, Peoples R China
来源：
MATHEMATICAL PROBLEMS IN ENGINEERING | 2017年 / 2017卷
基金：
中国国家自然科学基金;
关键词：
INVERSE KINEMATICS;
D O I：
10.1155/2017/4687638
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In this paper, a new algorithm for the forward displacement analysis of a general 6-3 Stewart platform(6-3SPS) based on conformal geometric algebra (CGA) is presented. First, a 6-3SPS structure is changed into an equivalent 2RPS-2SPS structure. Then, two kinematic constraint equations are established based on the geometric characteristics, one of which is built according to the point characteristic four-ball intersection in CGA. A 16th-degree univariate polynomial equation is derived from the aforementioned two equations by the Sylvester resultant elimination. Finally, a numerical example is given to verify the algorithm.
引用
收藏
页数：9
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