Reconfigurable kinematics of General Stewart Platform and simulation interface.

This research introduces a new algorithm to solve the forward kinematics of the General Stewart Platform. Basically, there are at least 20 basic feasible topologies for the General Stewart Platform and many different configurations for each o f them, some of which have been studied fully but most of them have not. The new algorithm can be extended to solve every single configuration of General Stewart Platform by slight change o f inputs. Unlike the existing algorithm, the proposed algorithm was developed by projective geometry, which enables the extension o f solution to any special configuration. In addition, extra sensors are introduced to give a set of good initial estimate in order to solve the nonlinear equations. A clear classification is given to classify all special Stewart Platforms that can be used in practice. This research also develops a graphical robotic simulation module to model and simulate the General Stewart Platforms by creating an optimized object-oriented design module added to software designed by Ding [Ding, Z.Q., 2005]. The design approach implements all components in the Visual C++ programming language and freely distributed graphical library OpenGL, utilizing a single PC running the Windows operating system. The algorithm and the simulation module are demonstrated by two examples. Reproduced with permission of the copyright owner. Further reproduction prohibited without permission.

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