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TitleForward displacement analysis of the general 6–6 Stewart mechanism using Gröbner bases
Author(s) Jian S. Dai, Qizheng Liao, Diane Maclagan, L.D. Seneviratne, Shimin Wei
TypeArticle in Journal
AbstractA new algorithm for the solution of the forward displacement analysis of the general 6–6 Stewart mechanism is presented in this paper. Gröbner basis theory is used and the problem of the forward displacement is reduced to a 40th-degree polynomial equation in a single unknown from a constructed 13 × 13 Sylvester’s matrix which is relatively small in the size, from which 40 different locations of the moving platform can be derived. Numerical examples confirm the efficiency of the procedure.
KeywordsGeneral 6–6 Stewart mechanism, Forward displacement analysis, Gröbner basis
ISSN0094-114X
URL http://www.sciencedirect.com/science/article/pii/S0094114X09000184
LanguageEnglish
JournalMechanism and Machine Theory
Volume44
Number9
Pages1640 - 1647
Year2009
Edition0
Translation No
Refereed No
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