Journal of Beijing University of Posts and Telecommunications

  • EI核心期刊

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 1998, Vol. 21 ›› Issue (2): 33-42.

• Original articles • Previous Articles     Next Articles

Forward Displacement Analysis of the 6-5 Stewart Platform

Han Lin, Wen Fuan, Liang Chonggao   

  1. Department of Mechanical and Electronic Engineering,
    Beijing University of Posts and Telecommunications, Beijing 100876
  • Received:1997-02-20 Online:1998-03-10
  • Supported by:
     

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Abstract: A closed-form solution to the forward displacement analysis of 6-5 Stewart platform mechanism is presented. The problem is reducedto a 20th degree polynomial equation in a single unknown, from which 40 different locations of the platform can be derived. Numerical example confirms these theoretical results.

Key words: spatial mechanisms, forward displacement analysis, parallel mechanism

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