Kinematics Analysis and Experiment Results

This paper shows the kinematics analysis and especially the experiment setups and results of a 6-degree-of-freedom (6DOF) parallel robot Stewart platform. Stewart platform is widely applied in applications requiring high-heavy load, high precision, and fast response. Regarding a parallel robot, the inverse kinematics could be high precision found straightforwardly, while the opposite is true with forward kinematics. Therefore, this work illustrated inverse-kinematics-based optimization algorithms for forward kinematics calculation. The proposed algorithms are evaluated using the <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\mathbf{C}$</tex> code for real-time applications (these codes are published on github.com/dc-vu/StewartPlatformForwardKinematics.git). What is more, the proposed algorithm also implemented for a 7DOFs serial robot arm in order to evaluate the performance. Furthermore, the experiments are thoroughly set up by utilizing the EtherCAT protocol with OMRON devices. The experiment results prove the suitability of the proposed method for high-precision purposes of the Stewart platform.