Determination of the Actual Configuration of the General Stewart Platform Using Only One Additional Sensor-Reference-Cited by-同舟云学术

Determination of the Actual Configuration of the General Stewart Platform Using Only One Additional Sensor

Published:1999-03-01 Issue:1 Volume:121 Page:21-25
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Parenti-Castelli V.¹,Di Gregorio R.²

Affiliation:

1. Department of Mechanical Engineering, University of Bologna, Viale Risorgimento, 2, 40136 Bologna Italy

2. Institute of Engineering, University of Ferrara, Via Saragat 1, 44100 Ferrara Italy

Abstract

This paper presents a procedure for the determination of the actual configuration of the general geometry Stewart platform (GSP), a fully-parallel manipulator that features two rigid bodies connected to each other via spherical pairs by six controlled-length legs. The six leg length measurements, provided by the displacement sensors incorporated in the leg hardware equipment, do not make it possible to uniquely find the GSP configuration because several configurations are possible for a given set of leg lengths. Several extra sensors in addition to those incorporated in the leg equipment have been proposed in the literature in order to obtain a one-to-one correspondence between the measurements and the actual GSP configuration. The proposed procedure makes use of only one additional displacement sensor and relies upon the analytical results available in the literature for a particular type of Stewart platform. The procedure, which uniquely defines the actual configuration of the GSP, is not intended for on-line implementation. Three different algorithms are proposed for computation and their efficiency compared. A case study is reported that confirms the effectiveness of the procedure.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/121/1/21/5796928/21_1.pdf

Reference11 articles.

1. Baron, L., and Angeles, J., 1994, “The Decoupling of the Direct Kinematics of Parallel Manipulators Using Redundant Sensors,” Proc. IEEE Int. Robotics and Automation Conf., May 8–13, San Diego, California, pp. 974–979.

2. Cheok K. C. , OverholtJ. L., and BeckR. R., 1993, “Exact Method for Determining the Kinematics of a Stewart Platform Using Additional Displacement Sensors,” Journal of Robotic Systems, Vol. 10, No. 5, pp. 689–707.

3. Innocenti, C., 1995, Private Communication.

4. Innocenti C. , and Parenti-CastelliV., 1993, “Closed Form Direct Position Analysis of a 5-5 Parallel Mechanism,” ASME JOURNAL OF MECHANICAL DESIGN, Vol. 115, pp. 515–521.

5. Jin, Y., 1994, “Exact Solution for the Forward Kinematics of the General Stewart Platform Using Two Additional Displacement Sensors,” 23rd ASME Biennial Mechanisms Conference, Minneapolis, Minnesota, DE-Vol. 72, pp. 491–495.

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