Complete kinematic analysis of the Stewart-Gough platform by unit quaternions

Fernando E. Serrano, J. M. Rossell
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引用次数: 2

Abstract

In this paper, a complete analysis of Stewart–Gough platform kinematics by unit quaternions is proposed. Even when unit quaternions have been implemented in different applications (including a kinematic analysis of the Stewart platform mechanism), the research regarding the application of this approach is limited only to the analysis of some issues related to the kinematic properties of this parallel mechanism. For this reason, a complete analysis of the Stewart–Gough platform is shown. The derivation of the inverse and forward kinematics of the Stewart platform using unit quaternions shows that they are suitable to represent the orientation of the upper platform due to their simplicity, equivalence, and compact representation as compared to rotation matrices. Then, the leg velocities are derived to compute these values under different conditions.
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用单位四元数完成Stewart-Gough平台的运动学分析
本文用单位四元数对Stewart-Gough平台运动学进行了完整的分析。即使单位四元数已经在不同的应用中实现(包括Stewart平台机构的运动学分析),关于该方法应用的研究也仅限于分析与该并联机构的运动学特性相关的一些问题。出于这个原因,对Stewart-Gough平台进行了完整的分析。利用单位四元数对Stewart平台的逆运动学和正运动学进行了推导,结果表明,与旋转矩阵相比,单位四元数具有简单、等价和紧凑的表示形式,适合表示平台上部的方向。然后,推导出不同条件下的腿速度,计算出这些值。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
International Journal of Mechanics and Control
International Journal of Mechanics and Control Engineering-Computational Mechanics
CiteScore
2.10
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0.00%
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PHYSICAL MODEL OF VEHICLE ENGINE MOUNT WITH MAGNETORHEOLOGICAL DAMPER EXPERIMENTAL INVESTIGATIONS ON ENERGY HARVESTING FROM MECHANICAL VIBRATIONS OF BUILDINGS USING MACRO FIBER COMPOSITE THE APPLICATION OF SELF-EXCITED VIBRATIONS FOR DYNAMIC STRAIN MEASUREMENTS CARRIED OUT BY VIBRATING WIRE TENSOMETERS Complete kinematic analysis of the Stewart-Gough platform by unit quaternions TEST BED FOR THE SIMULATION OF MAGNETIC FIELD MEASUREMENTS OF LOW EARTH ORBIT SATELLITES
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