Kinematic Solution of 6-DOF Stewart Mechanism Applying Mathematic and Simulation Method

In order to control the 6-DOF Stewart mechanisms to move accurately with given position and pose, technology of virtual reality, simulation and modeling are adopted, kinematic/dynamic model of Stewart mechanisms is built, under the physical displacement its movement is computed and simulated, by which the difficult problem of solving the normal kinematics solution of Stewart mechanisms is solved. Compare the pose curves of mechanisms top platform which are initialized and solved by simulation, the resemblance of two curves shows that the solving method of Stewart mechanisms is correct and accurate, and it can be used in controlling of real mechanisms.