Forward displacement analysis of the general 6-6 Stewart mechanism using Gröbner bases

Dongming Gan, Qizheng Liao, Jian S. Dai, Shimin Wei, L. D. Seneviratne

Research output: Contribution to journalArticlepeer-review

62 Scopus citations

Abstract

A new algorithm for the solution of the forward displacement analysis of the general 6-6 Stewart mechanism is presented in this paper. Gröbner basis theory is used and the problem of the forward displacement is reduced to a 40th-degree polynomial equation in a single unknown from a constructed 13 × 13 Sylvester's matrix which is relatively small in the size, from which 40 different locations of the moving platform can be derived. Numerical examples confirm the efficiency of the procedure.

Original languageBritish English
Pages (from-to)1640-1647
Number of pages8
JournalMechanism and Machine Theory
Volume44
Issue number9
DOIs
StatePublished - Sep 2009

Keywords

  • Forward displacement analysis
  • General 6-6 Stewart mechanism
  • Gröbner basis

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