Verification of the Kinematic Analysis of the 6-DOF Stewart Platform Manipulator

Islam Mohamed Elhadi, Soliman Elsayed Elnaggar, Mohamed Riad Ghazy

Abstract


Virtual modelling and simulation of robot-based systems provides decisive advantages not only in design but also in planning and the normal operation of such systems. In addition, kinematic modelling provides a powerful framework to understand the structure, mobility and adapt the specific characteristics of both serial and parallel manipulators. In this work, the position and orientation of the Stewart Platform parallel manipulator are required in order to find the leg lengths which is the solution for the inverse kinematics problem. The lengths are automatically computed with respect to a given orientation and position and hence the end‐effector performs a predefined trajectory in the task space. A virtual and mathematical verification of the position analysis of a 6‐DOF Stewart platform was implemented by comparing different robot postures with the same position and orientation. SolidWorks and MATLAB are used to check the study and the robot motion simulation. The results are discussed and an agreement between the two programs is certainly obtained.


Keywords


Parallel Manipulators; Kinematic Modelling; 6-DOF Stewart Platform; Simulation

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References


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