An Algorithm for the Forward Position Kinematics of General Stewart Platform Mechanism
A new algebra algorithm for the forward position kinematics of general Stewart platform（ GSP）is presented. First of all,the 20 original equations containing 9 variables are built according to the geometric construction of GSP. Then,the Groebner basis under the degree reverse lexicographic term order...
| Main Authors: | , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.07.025 |
| _version_ | 1826882022290751488 |
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| author | Wang Furong Xin Jiaoli |
| author_facet | Wang Furong Xin Jiaoli |
| author_sort | Wang Furong |
| collection | DOAJ |
| description | A new algebra algorithm for the forward position kinematics of general Stewart platform（ GSP）is presented. First of all,the 20 original equations containing 9 variables are built according to the geometric construction of GSP. Then,the Groebner basis under the degree reverse lexicographic term ordering for the 20 equations is solved,and the 29 Groebner basis can be selected from it and compressing proper variable,the 2929 Sylvester matrix is constructed. A 40 th degree univariate equation is achieved from the determinate of the matrix. Finally,the total 40 solutions of the corresponding other variables can be obtained by back substitution method. A numerical example is deployed to verify the algorithm. The algorithm is also suitable for the forward position kinematics analysis of the other type of parallel- mechanism. |
| first_indexed | 2024-03-13T09:22:14Z |
| format | Article |
| id | doaj.art-705a436cd73f4ad096cdf81b8f90d73a |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2025-02-17T02:59:53Z |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-705a436cd73f4ad096cdf81b8f90d73a2025-01-10T14:16:41ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-014011311629924973An Algorithm for the Forward Position Kinematics of General Stewart Platform MechanismWang FurongXin JiaoliA new algebra algorithm for the forward position kinematics of general Stewart platform（ GSP）is presented. First of all,the 20 original equations containing 9 variables are built according to the geometric construction of GSP. Then,the Groebner basis under the degree reverse lexicographic term ordering for the 20 equations is solved,and the 29 Groebner basis can be selected from it and compressing proper variable,the 2929 Sylvester matrix is constructed. A 40 th degree univariate equation is achieved from the determinate of the matrix. Finally,the total 40 solutions of the corresponding other variables can be obtained by back substitution method. A numerical example is deployed to verify the algorithm. The algorithm is also suitable for the forward position kinematics analysis of the other type of parallel- mechanism.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.07.025Stewart platformForward position kinematicsAlgebra algorithm |
| spellingShingle | Wang Furong Xin Jiaoli An Algorithm for the Forward Position Kinematics of General Stewart Platform Mechanism Jixie chuandong Stewart platform Forward position kinematics Algebra algorithm |
| title | An Algorithm for the Forward Position Kinematics of General Stewart Platform Mechanism |
| title_full | An Algorithm for the Forward Position Kinematics of General Stewart Platform Mechanism |
| title_fullStr | An Algorithm for the Forward Position Kinematics of General Stewart Platform Mechanism |
| title_full_unstemmed | An Algorithm for the Forward Position Kinematics of General Stewart Platform Mechanism |
| title_short | An Algorithm for the Forward Position Kinematics of General Stewart Platform Mechanism |
| title_sort | algorithm for the forward position kinematics of general stewart platform mechanism |
| topic | Stewart platform Forward position kinematics Algebra algorithm |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.07.025 |
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