View Full Version : reactions Stewart platform direct kinematics

11-07-2004, 10:04 PM

I would like to thank the people who gave a reaction on my mail about the
direct kinematics of a Stewards Platform (attached under this mail).
A short summery of reactions to help people who deals with the same problem:
- look in SimMechanics of Matlab
- Prof. Ian Stokes at the University of Vermont has built such a hexapod for
spinal testing, and has published a few papers about the topic.
- His collegue Mack Gardner-Morse has worked on matlabfiles of a haxapod.
- http://www.autolev.com
- Matthew R. Walker, MSc, Biomechanical Engineer, University of Guelph
advised me to use the Newton-Raphson iterative scheme to find the pose. He
developed the system and control methodology for a Stewart Platform for
spinal testing during his Master Thesis
- http://www-sop.inria.fr/coprin/equipe/merlet/merlet_eng.html
- Zoran Lazarevic, who worked with robots has some very useful information
with matlab-files on the internet http://lazax.com/blog/ or

Thanks to Yongqiang, Dr. Stephen Ferguson, Ian Stokes, M. Walker, Mack
Gardner-Morse, Zoran Lazarevic, Kevin Guelton (Université de Valenciennes).

Lizette van der Kamp

I am working on a system to measure the angles and distance between 2
following vertebrals (in vitro), when moving/bending the spine. This will be
done by using the basics of an hexapod or also a Stewards Platform.
I am searching for anybody who worked with the Forward dynamics of this
system; by knowing the length of the 6 struts to calculate to the position
(x,y,z,alpha,gamma, zeta) we need a transformation matrix and a calcutation
with respect to the defined x,y,z-axis.
I hope somebody can help me with this or can provide me some advice.
thank you,

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