Modification of the Gough–Stewart Platform with Six Degrees of Freedom

Abstract

The Gough–Stewart platform has occupied an important place in the manufacturing and scientific industries, making it possible to facilitate various production cycles or conduct necessary research. Its development makes it possible to solve newer and more complex problems or facilitate the implementation of existing ones. This article considers a modification of the classical platform; considers solutions to direct and inverse kinematics problems; implements a visualization program and a control algorithm, both a physical model of the platform and a virtual one; and estimates the parameters of the platform. Direct and inverse kinematics problems are one of the main problems that describe the platform; on their basis, it is possible to consider the behavior of the platform in various configurations of the given parameters. The visualization program allows one not only to view the behavior of the platform without the need to use a physical model of the platform, but also to control the real platform by transmitting the appropriate signals to the control circuit.