Solving 3-6 Parallel Robots by Dixon Resultant

Abstract

In this paper, we investigated the forward kinematic problem of the 3-6 parallel robots (Stewart platform) via a symbolic computation tool called Dixon resultant. 3-6 parallel robot is a variation of the classic 6-6 Stewart platform. First we constructed the system equations of 3-6 parallel robots with a certain coordinate system, and then gave the necessary and sufficient condition for the existence of roots of this system by resultant. With the expression of resultant, we could find the solution of the original system and determined the position of mobile platform. We also discussed how to deal with the extraneous roots.