Forward displacement analysis of a general 6-3 Stewart platform using conformal geometric algebra
type: Item
instance of: scholarly article
title: Forward displacement analysis of a general 6-3 Stewart platform using conformal geometric algebra
zbMATH Open document ID: 1426.70017
DOI: 10.1155/2017/4687638
author: Feng Wei
author: Shimin Wei
author: Ying Zhang
author: Qizheng Liao
published in: Mathematical Problems in Engineering
publication date: 2018-11-05T00:00:00Z
review text: Summary: 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.
Mathematics Subject Classification ID: 70E60
Mathematics Subject Classification ID: 15A66
zbMATH DE Number: 6972127
Wikidata QID: Q59147563
describes a project that uses: FABRIK
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2017/4687638
OpenAlex ID: W2588675811
cites work: Q4185852
cites work: Q4435147
cites work: Foundations of geometric algebra computing.
cites work: Inverse kinematics computation in computer graphics and robotics using conformal geometric algebra
description: scientific article; zbMATH DE number 6972127