engleski

Kinematic evaluation and forward kinematic problem for Stewart platform based manipulators

In this paper two methods are presented. The first is a kinematic evaluation method for two different hexapod structures: standard Stewart platform manipulator with extensible struts and second structure with fixed strut lengths but sliding guideways on fixed platform. The second method addresses the forward kinematic problem where different mathematical representations are combined with various optimization algorithms to find a suitable combination that may be utilized in real-time environment. Additionally, we note the existence of equivalent trajectories of the mobile platform and suggest an adaptation to the solving method that, having satisfied certain assumptions, is able to successfully solve the forward kinematic problem in real-time conditions with very high precision.

kinematic evaluation; forward kinematics; Stewart manipulator

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