An algorithm to solve the inverse kinematics to a stewart platform

• Petrescu, Florian Ion Tiberiu ^[1] ; Petrescu, Relly Victoria Virgil ^[2]
  1. [1] Bucharest Polytechnic University
  2. [2] Ph.D. Eng. Relly Victoria V. PETRESCU Senior Lecturer at UPB (Bucharest Polytechnic University), TTL department, Date of birth: March.13.1958; Higher education: Polytechnic University of Bucharest, Faculty of Transport, Road Vehicles Department, graduated in 1982, with overall average 9.43;
• Localización: Independent Journal of Management & Production, ISSN-e 2236-269X, Vol. 11, Nº. 2, 2020 (Ejemplar dedicado a: Independent Journal of Management & Production), págs. 263-282
• Idioma: inglés
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• Resumen

  • 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.