Verification of the Kinematic Analysis of the 6-DOF Stewart Platform Manipulator

Document Type : Original Article

Authors

1 Higher Technological Institute, Tenth of Ramadan city, P. O. Box: 228, Egypt

2 Zagazig University, Zagazig city, 44519, Egypt

3 bZagazig University, Zagazig city, 44519, Egypt

Abstract

Virtual modelling and simulation of robot-based systems provides decisive
advantages not only in design but also in planning and the normal operation of such
systems. In addition, kinematic modelling provides a powerful framework to
understand the structure, mobility and adapt the specific characteristics of both serial
and parallel manipulators. In this work, the position and orientation of the Stewart
Platform parallel manipulator are required in order to find the leg lengths which is
the solution for the inverse kinematics problem. The lengths are automatically
computed with respect to a given orientation and position and hence the end‐effector
performs a predefined trajectory in the task space. A virtual and mathematical
verification of the position analysis of a 6‐DOF Stewart platform was implemented
by comparing different robot postures with the same position and orientation.
SolidWorks and MATLAB are used to check the study and the robot motion
simulation. The results are discussed and an agreement between the two programs is
certainly obtained.

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