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Volume 40 Issue 7
Jul.  2014
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Journal of Beijing University of Aeronautics and Astronautics  > 2014  >  40(7): 921-926.
Xue Jian, Tang Zhiyong, Pei Zhongcaiet al. Numerical method of forward position solution for 6-3 Stewart platform based on mechanism simplification[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(7): 921-926. doi: 10.13700/j.bh.1001-5965.2013.0492(in Chinese)
Citation: Xue Jian, Tang Zhiyong, Pei Zhongcaiet al. Numerical method of forward position solution for 6-3 Stewart platform based on mechanism simplification[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(7): 921-926. doi: 10.13700/j.bh.1001-5965.2013.0492(in Chinese)
shu

Numerical method of forward position solution for 6-3 Stewart platform based on mechanism simplification

doi: 10.13700/j.bh.1001-5965.2013.0492

  • School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • Received Date: 18 Sep 2013
  • Publish Date: 20 Jul 2014
    Abstract
  • To increase the speed of forward position solution for Stewart platform, the classical iterative method based on speed Jacobian was analyzed, and the new method for 6-3 Stewart platform was proposed. 6-3 Stewart platform was simplified as virtual 3-RPS parallel mechanism and its forward position solution was obtained by Newton-Raphson method. The result was solved back to the pose of actual platform. Experimental results on self-designed hydraulic 6-3 Stewart platform system present that, compared with classical method, the new one reduced nearly 50% of iterations and about 85% of time cost for solution. The concept of the new method is clear, mechanism simplification is easy implementing, and the computational cost of forward position solution for simplified 3-RPS parallel mechanism is significantly decreased. The new method is capable for forward position solution in a real-time control with 0.1 ms control cycle.

     

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    • References(12)
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