Kinematics Analysis And Integrated Digital Platform Research Of Stewart Mechanism Based On CGA

Stewart parallel mechanism is widely applied.It has important theoretical significance and practical application value for promoting the development of important fields such as high-end intelligent manufacturing,national defense and industry.The main contents of this paper are the kinematics analysis and the integrated digital platform of the general 6-3 and 6-6 Stewart parallel mechanism.The kinematics analysis is divided into four modules:positional forward solution,inverse position solution,workspace analysis and trajectory planning.In addition,this topic in the MATLAB integrated development environment,using GUI graphical user interface technology,build a six DOF Stewart parallel mechanism integrated digital platform with a mechanism design function,real-time computing functions and 3D visualization function.First of all,based on the general geometric algebra method(CGA),we solve the problem of forward position and mathematical modeling of general 6-3 Stewart parallel mechanism.This method directly uses geometric relations to simplify the elimination process of computation.Then,based on the Groebner method and the Sylvester resultant elimination method,solved forward solution and analysis of general 6-6 Stewart parallel mechanism.The inverse solution of the position of the two mechanisms is adopted by the conventional method,and the inverse is accomplished by determining the connecting rod vector and the length by the two endpoints on the moving and fixed platform.In addition,the search method is used to perform the workspace analysis of the two kinds of mechanisms,and the trajectory planning of the straight line and the circle is carried out.Finally,mathematical modeling of mechanism kinematics is carried out by using M language in MATLAB,and user interface technology is established by graphical user interface technology(GUI),and the whole integrated digital platform is completed.