NUMERICAL ANALYSIS ON DIRECT KINEMATICS OF 6-DOF STEWART PLATFORM

摘要

Numerical analysis on direct kinematics is done base on Matlab 6.5. A novel method of direct kinematicsrnof 6-DOF Stewart Platform is introduced. General 6-DOF Stewart Platform is simplified into odd triangle StewartrnPlatform by way of geometrical knowledge and grouping theory. Constraint equations are added in process ofrntransformation. Validate the method of direct kinematics in Matlab 6.5. Precision of method is improved by repetitivernoptimizing.