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An Method for Forward Kinematics of Stewart Parallel Manipulators

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Intelligent Robotics and Applications (ICIRA 2008)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5314))

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Abstract

A general 6-DOF parallel manipulator has 40 solutions to forward kinemantics, but most of them are in imaginary domain. This paper presents a simple numerical method for forward kinematics of a general 6-DOF parallel manipulators, which can generate a unique actual solution directly. This method has advantage over conventional numerical iteration method, which is not rely on the initial values and this method is numerically stable and computationally efficient. Numerical example and simulation results verify correctness and effectiveness of the method.

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Authors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 1037 Luoyu Road, Wuhan, P.R. China

    Peidong Wu, Changlin Wu & Lianqing Yu

Authors
  1. Peidong Wu
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  2. Changlin Wu
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  3. Lianqing Yu
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Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, China

    Caihua **ong , Yongan Huang  & Youlun **ong ,  & 

  2. Institute of Industrial Research, University of Portsmouth, Burnaby Building, PO1 3QL, Portsmouth, UK

    Honghai Liu

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© 2008 Springer-Verlag Berlin Heidelberg

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Wu, P., Wu, C., Yu, L. (2008). An Method for Forward Kinematics of Stewart Parallel Manipulators. In: **ong, C., Huang, Y., **ong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_19

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  • DOI: https://doi.org/10.1007/978-3-540-88513-9_19

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-88512-2

  • Online ISBN: 978-3-540-88513-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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