Hexapod Structure Evaluation as Web Service

Abstract

Abstract:This paper describes several methods for evaluation of kinematic parameters of a Stewart platform. One of those methods is the calculation of workspace area both in numerical and graphical form. The second method allows us to analyze and estimate inherent mechanism errors that occur due to actuator errors, elastic and thermal deformations and other error sources. Furthermore, another procedure is presented which calculates certain kinematic parameters throughout the workspace area of the model and outputs them as numerical and graphical data. Finally, a forward kinematics algorithm designed for use in real-time conditions and its adaptation is presented. The described algorithms are implemented and made available as web services on the project web site (http://hexapod.zemris.fer.hr/).