Forward Displacement Analysis of a General 6-3 Stewart Platform Using Conformal Geometric Algebra

الملخص EN

In this paper, a new algorithm for the forward displacement analysis of a general 6-3 Stewart platform (6-3SPS) based on conformal geometric algebra (CGA) is presented.

First, a 6-3SPS structure is changed into an equivalent 2RPS-2SPS structure.

Then, two kinematic constraint equations are established based on the geometric characteristics, one of which is built according to the point characteristic four-ball intersection in CGA.

A 16th-degree univariate polynomial equation is derived from the aforementioned two equations by the Sylvester resultant elimination.

Finally, a numerical example is given to verify the algorithm.