Direct Displacement Problem of the 6-DOFGough-Stewart Platform

Abstract

In order to obtain direct displacement solutions of parallel manipulator without divergence in real time, a Newton-Raphson algorithm was proposed for direct displacement analysis of six-degree-of-freedom (DOF) Gough-Stewart platform. Based on geometrical frame of parallel mechanism, the highly nonlinear equations of kinematics were arranged into the homogeneous transformation matrix. The procedure of Newton-Raphson algorithm was programmed in Matlab/Simulink. The performance of the proposed algorithm for the 6-PSS parallel mechanism was analysed and confirmed. Applying Newton-Raphson algorithm, the real generalized pose of movable base is solved by using the given position of actuators.