A study on the dynamic analysis and control of 6-3 Stewart platform mechanism

In the present study kinematics and dynamics as well as the control of a 6-3 SPM are considered. First, the dynamic model of the considered mechanism outlined and the solutions of the relevant equations given in great details. Then, in order to obtain a precise positioning and gooddynamic performance model, a control algorithm developed. Adequacy and success of the developed algorithm are numerically tested for various initial values, the results obtained indicate its high accuracy in capturing desired orientation.

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