NDLI: Kinematics of an in-parallel actuated manipulator based on the stewart platform mechanism

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Kinematics of an in-parallel actuated manipulator based on the stewart platform mechanism

Content Provider	NASA Technical Reports Server (NTRS)
Author	Williams II, Robert L.
Copyright Year	1992
Description	This paper presents kinematic equations and solutions for an in-parallel actuated robotic mechanism based on Stewart's platform. These equations are required for inverse position and resolved rate (inverse velocity) platform control. NASA LaRC has a Vehicle Emulator System (VES) platform designed by MIT which is based on Stewart's platform. The inverse position solution is straight-forward and computationally inexpensive. Given the desired position and orientation of the moving platform with respect to the base, the lengths of the prismatic leg actuators are calculated. The forward position solution is more complicated and theoretically has 16 solutions. The position and orientation of the moving platform with respect to the base is calculated given the leg actuator lengths. Two methods are pursued in this paper to solve this problem. The resolved rate (inverse velocity) solution is derived. Given the desired Cartesian velocity of the end-effector, the required leg actuator rates are calculated. The Newton-Raphson Jacobian matrix resulting from the second forward position kinematics solution is a modified inverse Jacobian matrix. Examples and simulations are given for the VES.
File Size	1715948
Page Count	56
File Format	PDF
Alternate Webpage(s)	http://archive.org/details/NASA_NTRS_Archive_19920016900
Archival Resource Key	ark:/13960/t16m85b92
Language	English
Publisher Date	1992-03-01
Access Restriction	Open
Subject Keyword	Cybernetics Actuators Body Kinematics Robot Control Jacobi Matrix Method Manipulators End Effectors Robot Dynamics Robotics Kinematic Equations Cartesian Coordinates Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science
Content Type	Text
Resource Type	Technical Report

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