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Abstract: To obtain all solutions and high solving efficiency of the
forward kinematics of general Stewart platform, which is a set of 6
highly nonlinear simultaneous equations with 6 unknowns, some methods
are put forward after long-term studies. But no comparisons have been
made among these methods systematically. So the studies of the forward
kinematics of Stewart platform are reviewed firstly; then four typical
numerical methods are analyzed. Under the same accuracy, the calculating
efficiencies are compared. The results show that the method of modified
Jacobi matrix can provide the highest solving efficiency. The
calculating time is lower than 1 ms. It is an advisable choice when
applied in real time.
Key words: Stewart platform Parallel manipulator Forward
kinematics
CLC No: TH112
国家863计划(2002AA42051), 清华大学机械工程学院重点基金(091202001)和清华大学基础研究基金(092502006)资助项目.
Received 20020830, received in revised form 20021030
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