Forward displacement analysis of the general 6-6 Stewart mechanism using Grobner bases

作者：Gan Dongming^*; Liao Qizheng; Dai Jian S; Wei Shimin; Seneviratne L D

来源：Mechanism and Machine Theory, 2009, 44(9): 1640-1647.

DOI：10.1016/j.mechmachtheory.2009.01.008

• General 6-6 Stewart mechanism
• Forward displacement analysis
• Grobner basis

A new algorithm for the solution of the forward displacement analysis of the general 6-6 Stewart mechanism is presented in this paper. Grobner basis theory is used and the problem of the forward displacement is reduced to a 40th-degree polynomial equation in a single unknown from a constructed 13 x 13 Sylvester's matrix which is relatively small in the size, from which 40 different locations of the moving platform can be derived. Numerical examples confirm the efficiency of the procedure.

• 出版日期2009-9
• 单位北京邮电大学