Inverse displacement problem of Gough-Stewart platform with six degrees of freedom

摘要

The Gough-Stewart platform with six degrees of freedom is widely used in different mechatronic devices, in particular in the controlling instruments, the inspection stands etc. The studied parallel mechanism has some advantages namely increased rigidity and compactness and also some disadvantages like possible loss of control. In this paper, the method of solving inverse displacement problem is offered which allows estimating the range of permissible positions of Gough-Stewart platform. Simulation results demonstrate that the proposed method can provide a proper motion range, in which the end-effector covers the reachable workspace. In future work, the proposed methods will be combined with the direct kinematics and singularity methods to obtain the singularity-free, unique determined actuators' motion.