Forward displacement analysis of the general 6–6 Stewart mechanism using Gröbner bases

✍ Scribed by Dongming Gan; Qizheng Liao; Jian S. Dai; Shimin Wei; L.D. Seneviratne

• Book ID: 104049203
• Publisher: Elsevier Science
• Year: 2009
• Tongue: English
• Weight: 210 KB
• Volume: 44
• Category: Article
• ISSN: 0094-114X
• DOI: 10.1016/j.mechmachtheory.2009.01.008

✦ Synopsis

A new algorithm for the solution of the forward displacement analysis of the general 6-6 Stewart mechanism is presented in this paper. Gröbner basis theory is used and the problem of the forward displacement is reduced to a 40th-degree polynomial equation in a single unknown from a constructed 13 Â 13 Sylvester's matrix which is relatively small in the size, from which 40 different locations of the moving platform can be derived. Numerical examples confirm the efficiency of the procedure.