Modeling and Evaluating of the Stewart Platform
نویسندگان
چکیده
This paper presents an algorithm for solving forward kinematics problem of the Stewart Platform and an application for modeling of the Stewart Platform's motions. The developed application is able to solve forward kinematics problem in given accuracy; to calculate curve of the tool positioned on the mobile platform; to calculate possible deviation of the tool from a nominal position if lengths of the legs can vary in given range; to detect crossing of the legs during motions of the mobile platform. The movements of the Stewart Platform can be specified though explicit laws of motions or trough spline-interpolation based on given nodes. The computational engine of the program is constructed on new effective methods and algorithms.
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