Xiguang Huang

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This paper presents a new algorithm to solve the closed-form forward kinematics of the general 6-6 Stewart platform with planar base and moving platform. Based on the presented algebraic method, we derive the 20th degree univariate polynomial from the determinant of the 15x15 Sylvester's matrix, which is relatively small in size, without factoring out or(More)
The displacement analysis problem of parallel robot mechanism can be finally transformed into solving nonlinear equations and the finding-process is very difficult. Moreover, the more CCS kinematic pair the more complexly to find. The mathematical programming method is adopted when the iteration diverges with the Newton and quasi-Newton methods. If chaotic(More)
A new type of actuator, named translational meshing motor was developed. The aim of this research is to develop a new motor which integrates the reduction gear into the drive. Compared with traditional motors, the noticeable features of this motor are short active length, high respond speed, stability at low speed, big output torque. The prototype is(More)
The problem of synthesizing a planar four-bar linkages whose curve passes through five prescribed precision points based on elimination methods has been a difficult problem in kinematics because it is of high polynomial degree and highly nonlinear. A new elimination method to solve the problem is presented. Based on the presented method, a 36th degree(More)
This paper presents the 4SPS-2CCS generalized Stewart-Gough platform(GSP) Mechanism and its direct kinematics. We prove that the direct kinematics problem(DKP) of the 4SPS-2CCS GSP has at most 160 non-singular solutions by using Mourrain variety. We also obtain all 160 non-singular solutions of the direct kinematics problem in a numerical example by using(More)
In this paper a new and efficient algorithm to solve a closed-form direct kinematics solution of the general 6–6 planar Stewart platform is presented. The main idea is to compute the reduced Groebner basis under degree lexicographic ordering for the closed-form equations by using computer algebra firstly. Secondly, select 10 Groebner bases from the(More)
The forward displacement analysis of parallel mechanism is attributed to find the solution of complex nonlinear equations which is a very difficult process. The more CCS kinematic chains are the more complicated the forward displacement is. Newton iterative method is an important one-dimension and multi-dimension technique which is sensitive to the initial(More)
This paper examines an efficient algebraic method to solve the forward kinematics problem of 6-5 planar Stewart platform is presented. Based on the algebraic method, we convert a non-linear equation system solving the problem into a 20th-degree univariate equation. We also find all solutions corresponding to the possible configurations of the platform for a(More)
A cleaning robot was designed to clear up mounting holes of carbon anode used in aluminium electrolysis process. Machine vision system consists of charge coupled device (CCD) camera and optical inspection system was installed on the robot to obtain accurate centre position of four holes on one carbon workpiece. For mounting anode rods stably, each hole has(More)
An algorithm for direct kinematics of the 5&#x2013;6 Stewart platform is presented. We construct a set of fifteen 4<sup>th</sup> degree equations in three unknowns and obtain the univariate polynomial of 20<sup>th</sup> degree. Due to dual solutions of other unknowns, this indicates a maximum of 40 possible solutions. A numerical example is given to verify(More)