Kinematics Analysis and Simulation System Realization of Stewart Platform Manipulator

摘要

Computer simulation technology plays the very important role in design and research of robots. This paper studies some key technology problems existing in kinematics simulation system of Stewart platform robot. The paper gives a practicable iterative method of direct kinematics solution. For realizing hidden surface removal, an algorithm is used to judge the distance between every component and view point, then adjusts the drawing sequence of components to hide the sheltered part. In order to judge whether there is interference between legs, we design a set of parallel planes to cut the legs, then analyzing the sections to judge the interference. Finally the developed robot simulation system is reliable, effectual and practicable. The software provides an important study means for Stewart platform robots structure design and trajectory planning.