Direct Kinematics of the Reverse Stewart Platform Mechanism

摘要: Abstract The analytical form solution of direct position analysis the fully parallel mechanism denoted as reverse Stewart platform is presented. mechanism, when a set actuator displacements given, becomes statically determined structure and can be assembled in many different configurations. procedure presented paper models kinematics by three non-linear equations unknowns and, after suitable elimination two unwanted unknowns, leads to one final algebraic equation sixteenth order only unknown. As result input sixteen configurations complex field. Numerical examples confirm new theoretical result.