An algorithm to solve the inverse kinematics to a stewart platform

• Autor(a) principal: Petrescu, Florian Ion Tiberiu
• Data de Publicação: 2020
• Outros Autores: Petrescu, Relly Victoria Virgil
• Tipo de documento: Artigo
• Idioma: eng
• Título da fonte: Independent Journal of Management & Production
• Texto Completo: http://www.ijmp.jor.br/index.php/ijmp/article/view/788
• topic: An algorithm; Mechatronics; Robotics; Parallel moving mechanical systems; A Stewart structure

Mechanical systems in motion type parallel structures are solid, fast and accurate. Between mobile systems parallel the best known and used system is that of a Stewart platform, as being and the oldest system, quickly, solid and accurate. The paper presents a few main elements of the Stewart platforms. In the case where a motto element consists of a structure composed of two elements in a relative movement from the point of view of the train of propulsion and especially in the dynamic calculations, it is more convenient to represent the motto element as a single moving item. The paper presents an exact, original analytical geometry method for determining the kinematic and dynamic parameters of a parallel mobile structure. Compared with other methods already known, the presented method has the great advantage of being an exact analytical method of calculation and not one iterative-approximately.