Workspaces of the Stewart Platform in the 6D Space of Generalized Coordinates

摘要

The kinematics and dynamics of the classical Stewart platform is studied. The platform is a rigid body supported by six rods of variable length. Well-known differential equations describing the motion of the platform are presented. The main attention is paid to an analysis of workspaces in the 6D space of generalized coordinates. The projections of these workspaces on spaces of lower dimension are found.