Title: An experimental inverse and direct kinematics analysis of multi-axial simulation table

Authors: Deniz Sönmez

Addresses: Mercedes Benz Türk A.Ş, R&D Department, Orhan Gazi Mahallesi, Mercedes Bulvarı, 34519 No:17/1 Esenyurt, İstanbul, Turkey

Abstract: This paper presents the inverse and direct kinematics analysis and experimental study of a parallel manipulator of multi-axial simulation table (MAST). The numerical simulation was used to predict the workspace analysis and path planning hydraulic cylinder advancement and the workspace of the center of MAST. Following the numerical simulations, the results were compared with experimental measurements. The results indicate that the numerical and 3D CAD kinematic simulation results show good compatibility with experimental measurements obtained from MAST.

Keywords: 6-6 Stewart platforms; MAST; multi-axial simulation table; inverse and direct kinematics; Jacobian analysis; position analysis.

DOI: 10.1504/IJVSMT.2022.126970

International Journal of Vehicle Systems Modelling and Testing, 2022 Vol.16 No.1, pp.64 - 78

Received: 02 Dec 2020
Accepted: 12 May 2021
Published online: 15 Nov 2022 *

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