A new kinematic model for the closure equations of the generalized Stewart platform mechanism

The paper deals with the direct position analysis of the six degrees of freedom parallel manipulator known as generalized Stewart Platform Mechanism. When a set of actuator displacements is given the mechanism becomes a statically determined structure and the analysis solves for the closure of the structure. The governing equations are non-linear and many solutions are possible. Kinematic models reported in the literature relate to systems of six equations in six unknowns, which are solved numerically because of their complexity. Based on a novel approach, a new kinematic model of the structure is presented in this paper. It leads to a system of three equations in three unknowns that greatly reduces the computational burden. Finally, a case study has been reported.Paper presented at 2nd Int. Workshop on Advanced Robot Kinematics, Linz, Austria, 10–12 September, 1990.