Forward Displacement Analysis of a Class of the 6-6 Stewart Platforms
- 13 September 1992
- proceedings article
- Published by ASME International
- p. 113-117
- https://doi.org/10.1115/detc1992-0205
Abstract
In this paper, a special form of the Stewart platform, namely, that in which the top platform and base platform are similar and corresponding vertices are connected by six prismatic joints, is presented. We have developed the closed-form solution for the forward displacement analysis of this mechanism. When the six vertices of top platform are in a quadratic curve, this mechanism becomes singular. This new theoretical result has been confirmed by numerical example.Keywords
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