Email this article Workspaces of the Stewart platform in the 6D space of generalized coordinates
- Authors: Leonov G.A.1, Tovstik P.E.1, Tovstik T.M.1
-
Affiliations:
- St. Petersburg State University
- Issue: Vol 50, No 2 (2017)
- Pages: 180-187
- Section: Mechanics
- URL: https://journal-vniispk.ru/1063-4541/article/view/185779
- DOI: https://doi.org/10.3103/S1063454117020091
- ID: 185779
Cite item
Open Access
Access granted
Subscription Access
Abstract
The kinematics and dynamics of the classical Stewart platform is studied. The platform is a rigid body supported by six rods of variable length. Well-known differential equations describing the motion of the platform are presented. The main attention is paid to an analysis of workspaces in the 6D space of generalized coordinates. The projections of these workspaces on spaces of lower dimension are found.
Keywords
About the authors
G. A. Leonov
St. Petersburg State University
Author for correspondence.
Email: leonov@math.spbu.ru
Russian Federation, St. Petersburg, 199034
P. E. Tovstik
St. Petersburg State University
Email: leonov@math.spbu.ru
Russian Federation, St. Petersburg, 199034
T. M. Tovstik
St. Petersburg State University
Email: leonov@math.spbu.ru
Russian Federation, St. Petersburg, 199034
Supplementary files
