スチュワートプラットフォーム機構の順機構解に関する研究

折り紙解による順機構解の解法

抄録

Parallel mechanism is composed of a platform connected to a fixed base by some linear actuators called struts. The kinematic chains of parallel mechanism are driven by these actuators to its base and has high stiffness and low weight so it can realize high speed and accurate positioning ability. The Stewart platform is one of the parallel mechanism. In serial mechanism, the direct kinematics solution is easy, but the inverse kinematics solution is very involved. The other way, in the parallel mechanism the inverse kinematics solution is easy but the direct kinematics solution is very involved. In this paper, a new method named “origami solution” to solve the direct kinematics solution of Stewart platform is proposed and some basic equations in “origami solution” are conducted. This method is based on the “Geneqc.c” which is a computer program to get roots of general equations. In the last, the method is evaluated by some examples of the Stewart platform. The direct kinematics solution is solved in 0.01mm accuracy in about 1 second calculation time by 32 bit computer.