Transactions of Nanjing University of Aeronautics & Astronautics
Research on Forward Position Solutions of Triangular Platform Stewart-Type Parallel Robot
- Article
- Figures
- Metrics
- Preview PDF
- Reference
- Related
- Cited by
- Materials
Abstract:
This study presents a novel analytical algorithm for solving the forward position problem of a triangular platform Stewart-type parallel robot （STPR）. By introducing a virtual chain and leveraging tetrahedral geometric principles， the proposed method derives analytical solutions for the position and orientation of the moving platform. The algorithm systematically addresses the nonlinearity inherent in the kinematic equations of parallel mechanisms， providing explicit expressions for the coordinates of key moving attachment points. Furthermore， the methodology is extended to general triangular platform STPRs with non-coplanar fixed attachments. Numerical validation through virtual experiments confirms the accuracy of the solutions， demonstrating that the mechanism admits eight distinct configurations for a given set of limb lengths. The results align with established kinematic principles and offer a computationally efficient alternative to iterative analytical approaches， contributing to the advancement of precision control in parallel robotic systems.
Keywords:
Project Supported:
This work was supported by the Opening Project of State Key Laboratory of Mechanical Transmission for Advanced Equipment （No.SKLMT-MSKFKT-202330）， the National Natural Science Foundation of China （No.52575022）； and the Jiangsu Province Postgraduate Research & Practice Innovation Program（No.KYCX25_1403）.
Clc Number:
TH112
Articles
Mobile website
