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Forward Displacement Analysis of a General 6-3 Stewart Platform Using Conformal Geometric Algebra

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  • Feng Wei
  • Shimin Wei
  • Ying Zhang
  • Qizheng Liao

Abstract

In this paper, a new algorithm for the forward displacement analysis of a general 6-3 Stewart platform (6-3SPS) based on conformal geometric algebra (CGA) is presented. First, a 6-3SPS structure is changed into an equivalent 2RPS-2SPS structure. Then, two kinematic constraint equations are established based on the geometric characteristics, one of which is built according to the point characteristic four-ball intersection in CGA. A 16th-degree univariate polynomial equation is derived from the aforementioned two equations by the Sylvester resultant elimination. Finally, a numerical example is given to verify the algorithm.

Suggested Citation

  • Feng Wei & Shimin Wei & Ying Zhang & Qizheng Liao, 2017. "Forward Displacement Analysis of a General 6-3 Stewart Platform Using Conformal Geometric Algebra," Mathematical Problems in Engineering, Hindawi, vol. 2017, pages 1-9, February.
    • Handle: RePEc:hin:jnlmpe:4687638
    DOI: 10.1155/2017/4687638
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    Cited by:

    1. Ganmin Zhu & Shimin Wei & Ying Zhang & Qizheng Liao, 2021. "A Novel Geometric Modeling and Calculation Method for Forward Displacement Analysis of 6-3 Stewart Platforms," Mathematics, MDPI, vol. 9(4), pages 1-18, February.

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