Kinematics and Statics of the Gough-Stewart Platform

Author:

Zhao Jing-Shan1ORCID,Sun Xiao-Cheng1,Wei Song-Tao1ORCID

Affiliation:

1. State Key Laboratory of Tribology in Advanced Equipment, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China

Abstract

This paper presents an algorithm for the kinematics and statics analysis of a Gough–Stewart platform. Through defining the velocity screw, the relative angular and linear velocities of a single rigid body can be expressed as a single vector. The velocity screw equations of various mechanisms are deduced in detail, the forward and inverse kinematics of a parallel mechanism can be solved through the velocity screw equation. Similarly, the definition of the force screw allows all constraint forces and torques of a single rigid body to be expressed using a single vector, and the static screw equation can be used to solve the forward and inverse statics of a parallel mechanism in one coordinate system. The advantage of this approach is that kinematics and statics modeling are unified in screw coordinates because the kinematic parameters in screw form can be directly employed in statics modeling. The results of the kinematics and statics analysis of the Gough-Stewart platform validate this method. This algorithm is easy to compute and program with high efficiency, and it can also be applied to any other spatial, complex multi-rigid-body systems.

Funder

Basic Research Project Group of China

Guoqiang Research Institute of Tsinghua University

State Key Laboratory of Tribology, Tsinghua University

Publisher

MDPI AG

Subject

Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science

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