An Inverse Kinematic Method for Performance Determination of Flight

Abstract

In this paper, a theoretical analysis of the Stewart platform operation with constraints on actuator speed and force is described. The limitation of platform in the generation of surge, sway, and heave motion as well as roll and pitch angular oscillating motions is analyzed using the inverse kinematic equation of Stewart platform and a numerical method. The proposed method also accounts for both inertial mass and rotational mass of actuators in the determination of operating limitation. The implementation of the proposed method is presented in examples and the determination results are discussed.