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Forward Displacement Analysis of a General 6-3 Stewart Platform Using Conformal Geometric Algebra
Joint Authors
Wei, Feng
Wei, Shimin
Zhang, Ying
Liao, Qizheng
Source
Mathematical Problems in Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-02-13
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract 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.
American Psychological Association (APA)
Wei, Feng& Wei, Shimin& Zhang, Ying& Liao, Qizheng. 2017. Forward Displacement Analysis of a General 6-3 Stewart Platform Using Conformal Geometric Algebra. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-9.
https://search.emarefa.net/detail/BIM-1190478
Modern Language Association (MLA)
Wei, Feng…[et al.]. Forward Displacement Analysis of a General 6-3 Stewart Platform Using Conformal Geometric Algebra. Mathematical Problems in Engineering No. 2017 (2017), pp.1-9.
https://search.emarefa.net/detail/BIM-1190478
American Medical Association (AMA)
Wei, Feng& Wei, Shimin& Zhang, Ying& Liao, Qizheng. Forward Displacement Analysis of a General 6-3 Stewart Platform Using Conformal Geometric Algebra. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-9.
https://search.emarefa.net/detail/BIM-1190478
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1190478