Hostname: page-component-76fb5796d-9pm4c Total loading time: 0 Render date: 2024-04-26T23:12:06.423Z Has data issue: false hasContentIssue false
  • English
  • Français

A direct numerical solution to forward kinematics of general Stewart–Gough platforms

Published online by Cambridge University Press:  04 September 2006

Yunfeng Wang
Yunfeng Wang
Affiliation:
Department of Mechanical Engineering, The College of New Jersey, Ewing, NJ 08628, USA. E-mail: jwang@tcnj.edu.
Get access Rights & Permissions [Opens in a new window]

Abstract

This paper presents a simple numerical method for forward kinematics of general Stewart–Gough platforms, which can generate a unique solution directly. This method utilizes the trivial nature of the inverse kinematics of parallel manipulators, and derives a straightforward linear relationship between the small change in joint variables (leg lengths) and the resulting small motion of the platform. The solution to the forward kinematics is then achieved through a series of small changes in joint variables. Numerical examples validate and confirm the efficiency of the method.

Keywords

Parallel manipulatorsForward kinematics
Type
Article
Information
Robotica , Volume 25 , Issue 1 , January 2007 , pp. 121 - 128
Copyright
2006 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)