caa a22 4500 469108487 CHVBK 20180323133103.0 cr unu---uuuuu 170328e19921201xx s 000 0 eng 10.1007/BF00430941 doi (NATIONALLICENCE)springer-10.1007/BF00430941 A new kinematic model for the closure equations of the generalized Stewart platform mechanism [Elektronische Daten] [C. Innocenti, V. Parenti-Castelli] The paper deals with the direct position analysis of the six degrees of freedom parallel manipulator known as generalized Stewart Platform Mechanism. When a set of actuator displacements is given the mechanism becomes a statically determined structure and the analysis solves for the closure of the structure. The governing equations are non-linear and many solutions are possible. Kinematic models reported in the literature relate to systems of six equations in six unknowns, which are solved numerically because of their complexity. Based on a novel approach, a new kinematic model of the structure is presented in this paper. It leads to a system of three equations in three unknowns that greatly reduces the computational burden. Finally, a case study has been reported. Kluwer Academic Publishers, 1991 Forward kinematics nationallicence parallel mechanism nationallicence robotics nationallicence closed kinematic chain nationallicence Innocenti C. Departimento di Ingegneria delle Costruzioni meccaniche, nucleari, aeronautiche e di Metallurgia, Università di Bologna, Viale Risorgimento 2, 40136, Bologna, Italy aut Parenti-Castelli V. Departimento di Ingegneria delle Costruzioni meccaniche, nucleari, aeronautiche e di Metallurgia, Università di Bologna, Viale Risorgimento 2, 40136, Bologna, Italy aut Meccanica Kluwer Academic Publishers 26/4(1992-12-01), 247-252 0025-6455 26:4<247 1992 26 11012 https://doi.org/10.1007/BF00430941 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/BF00430941 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Innocenti C. Departimento di Ingegneria delle Costruzioni meccaniche, nucleari, aeronautiche e di Metallurgia, Università di Bologna, Viale Risorgimento 2, 40136, Bologna, Italy aut NATIONALLICENCE 700 1- Parenti-Castelli V. Departimento di Ingegneria delle Costruzioni meccaniche, nucleari, aeronautiche e di Metallurgia, Università di Bologna, Viale Risorgimento 2, 40136, Bologna, Italy aut NATIONALLICENCE 773 0- Meccanica Kluwer Academic Publishers 26/4(1992-12-01), 247-252 0025-6455 26:4<247 1992 26 11012 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer