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Kinematics of an in-parallel actuated manipulator based on the Stewart platform mechanismThis paper presents kinematic equations and solutions for an in-parallel actuated robotic mechanism based on Stewart's platform. These equations are required for inverse position and resolved rate (inverse velocity) platform control. NASA LaRC has a Vehicle Emulator System (VES) platform designed by MIT which is based on Stewart's platform. The inverse position solution is straight-forward and computationally inexpensive. Given the desired position and orientation of the moving platform with respect to the base, the lengths of the prismatic leg actuators are calculated. The forward position solution is more complicated and theoretically has 16 solutions. The position and orientation of the moving platform with respect to the base is calculated given the leg actuator lengths. Two methods are pursued in this paper to solve this problem. The resolved rate (inverse velocity) solution is derived. Given the desired Cartesian velocity of the end-effector, the required leg actuator rates are calculated. The Newton-Raphson Jacobian matrix resulting from the second forward position kinematics solution is a modified inverse Jacobian matrix. Examples and simulations are given for the VES.
Document ID
19920016900
Acquisition Source
Legacy CDMS
Document Type
Technical Memorandum (TM)
Authors
Williams, Robert L., II
(NASA Langley Research Center Hampton, VA, United States)
Date Acquired
September 6, 2013
Publication Date
March 1, 1992
Subject Category
Cybernetics
Report/Patent Number
NAS 1.15:107585
NASA-TM-107585
Accession Number
92N26143
Funding Number(s)
PROJECT: RTOP 595-11-22
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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