A Forward Closed-Form Position Solution, Kinematic Analysis And Implementation of a Translational 3-DOF Parallel Mechanism Formed by Constraining a Stewart Platform Structure

An excitation table is commonly used for vibration and ride tests for parts or assemblies of automobiles, aircrafts, or other heavy systems. The authors have analyzed several kinematic properties of an excitation table that is under development for heavy transport vehicles. It consists of one table and 7 linear hydraulic actuators. The authors have performed mobility analysis, inverse kinematics, forward kinematics, and singularity analysis. Especially, we have proposed a fast forward kinematic solution considering the limited motion of the excitation table. On the assumption that the motion variables such as rotation angles and displacements are small, the forward kinematic problem is converted to the observer problem of a linear system. This provides a fast solution. Also we have verified that there are no singularity points in the working range by numerical analysis.

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A Forward Closed-Form Position Solution, Kinematic Analysis And Implementation of a Translational 3-DOF Parallel Mechanism Formed by Constraining a Stewart Platform Structure

Cited by 2 publications

References 13 publications

Trajectory planning in 6-degrees-of-freedom operational space for the 3-degrees-of-freedom mechanism configured by constraining the Stewart Platform structure

Trajectory planning in 6-degrees-of-freedom operational space for the 3-degrees-of-freedom mechanism configured by constraining the Stewart Platform structure

Kinematic Analysis of Multi Axis Shaking Table for Multi-Purpose Test of Heavy Transport Vehicle

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