Verification of the Kinematic Analysis of the 6-DOF Stewart Platform Manipulator | ||||
| The Egyptian International Journal of Engineering Sciences and Technology | ||||
| Article 1, Volume 23, EIJEST, Vol. 23, 2017, July 2017, Page 1-8 PDF (1.28 MB) | ||||
| Document Type: Original Article | ||||
| DOI: 10.21608/eijest.2017.97196 | ||||
 View on SCiNiTO | ||||
| Authors | ||||
| I Elhadia* 1; S Elnaggar2; M Ghazy3 | ||||
| 1Higher Technological Institute, Tenth of Ramadan city, P. O. Box: 228, Egypt | ||||
| 2Zagazig University, Zagazig city, 44519, Egypt | ||||
| 3bZagazig University, Zagazig city, 44519, Egypt | ||||
| Abstract | ||||
| Virtual modelling and simulation of robot-based systems provides decisive advantages not only in design but also in planning and the normal operation of such systems. In addition, kinematic modelling provides a powerful framework to understand the structure, mobility and adapt the specific characteristics of both serial and parallel manipulators. In this work, the position and orientation of the Stewart Platform parallel manipulator are required in order to find the leg lengths which is the solution for the inverse kinematics problem. The lengths are automatically computed with respect to a given orientation and position and hence the end‐effector performs a predefined trajectory in the task space. A virtual and mathematical verification of the position analysis of a 6‐DOF Stewart platform was implemented by comparing different robot postures with the same position and orientation. SolidWorks and MATLAB are used to check the study and the robot motion simulation. The results are discussed and an agreement between the two programs is certainly obtained. | ||||
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