Direct Position Kinematics of the 3-1-1-1 Stewart Platforms

[+] Author and Article Information
M. Husain

Power Systems Research Department, General Motors Research and Development Center, 30500 Mound Road, Warren, MI 48092-2031

K. J. Waldron

Department of Mechanical Engineering, The Ohio State University, Columbus, OH 43210

J. Mech. Des 116(4), 1102-1107 (Dec 01, 1994) (6 pages) doi:10.1115/1.2919493 History: Received November 01, 1991; Online June 02, 2008


In this work, a closed from solution for the direct position kinematics problem of a special class of Stewart Platform is presented. This class of mechanisms has a general feature that the top platform is connected to the six limbs at four locations. Three limbs connect at one location and the remaining limbs connect to the top platform singly at three separate locations. The base platform is connected at six different locations as is the case in the general platform. This particular class of mechanism is termed as 3-1-1-1 mechanism in this paper. It has been shown that there are a maximum of sixteen real assembly configurations for the direct position kinematics problem. This has been verified using a geometric argument also. The numerical example solved in this paper demonstrates that it is possible to obtain a set of solutions which are all real.

Copyright © 1994 by The American Society of Mechanical Engineers
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