A Novel Geometric Modeling and Calculation Method for Forward Displacement Analysis of 6-3 Stewart Platforms
نویسندگان
چکیده
A novel geometric modeling and calculation method for forward displacement analysis of the 6-3 Stewart platforms is proposed by using conformal algebra (CGA) framework. Firstly, two formulas between 2-blade 1-blade are formulated. Secondly, expressions spherical joints moving platform given via CGA operation. Thirdly, a coordinate-invariant constraint equation deduced. Fourthly, 16-degree univariate polynomial without algebraic elimination Euler angle substitution presented. Fifthly, coordinates three on calculated judging radical symbols. Finally, numerical examples used to verify method. The highlight this paper that new obtained determinant form inner product algorithm, which provides idea solve more complex spatial parallel mechanism in future.
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ژورنال
عنوان ژورنال: Mathematics
سال: 2021
ISSN: ['2227-7390']
DOI: https://doi.org/10.3390/math9040442