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Modeling of Gough Stewart Robot Manipulator Inverse Kinematics by Using MSC

ADAMS Software

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Hassan M Alwan Riyadh Sarhan

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 Journal of University of Babylon for Engineering Sciences, Vol. (26), No. (6): 2018.

Modeling of Gough Stewart Robot Manipulator Inverse

Kinematics by Using MSC ADAMS Software
Hassan Mohammed Alwan Riyadh Ahmed Sarhan
Mechanical Engineering Department, University of Technology, Baghdad-Iraq
20071@uotechenology.edu.iq me.21328@uotechnology.edu.iq
Abstract:
The Gough Stewart Robotic manipulator is a parallel manipulator with six-degree
of freedom, which has six equations of inverse and forward with six variables. This paper
model of the Gough Stewart has been built into the MSC ADAMS software and its
motion based on the inverse equations of the Stewart. Then compare the obtained results
from the software with the results, which obtained from theoretical model.
Key words: Robot, Gough-Stewart, MSc. ADAMS, Kinematics, Inverse analysis.
1- Introduction:
Parallel manipulators are mechanisms where all the links are connected to the
ground and the moving platform at the same time [1]. The Stewart platform manipulator
is a fully parallel kinematic linkage system that has major mechanical differences over
typical serial link robots [2]. The manipulating structure now known as the Stewart
platform has its origin in the design by Stewart of a 6-DOF mechanism to simulate flight
conditions by generating general motion in space [3]. For a 6-DOF Stewart platform, the
complexity of the forward kinematics has to be compared with that of the direct
kinematics of the serial robot and, on the contrary, inverse kinematics are as Gough-
Stewart easy as the forward kinematics of a serial robot arm [4].
Parallel mechanisms (PMs) have become a large field of investigation during the
past several decades because of their many attributes, including large load capacities,
high stiffness and stability, and good dynamic performance. However, PMs are only one
type of closed-loop spatial mechanisms and their architectural nature limits their
application [5].
2- Gough Stewart Model:
A Gough-Stewart parallel manipulator typically consists of a moving platform and
a fixed base that are connected together by six links. Because of the closed-loop
architecture, not all of the joints can be independently actuated. In general, the number of
actuated joints is equal to the number of degrees of freedom of the manipulator [6].
In this paper, the model of the manipulator consists of the fixed base and moving
platform, six linear actuators which are connected to the base by universal joints (have
two degrees of freedom) and connected with the moving platform by a ball joint (have
three degrees of freedom) as shown in fig (1).

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Fig (1): The mechanism of the Stewart.

2.1- Inverse Kinematics Analysis:

The tables 1 and 2 show coordinates of the base and moving platform as shown in
fig. (2) and fig (3), respectively and the length of each linkage at initial conditions equal
to (0.625 m).
Table: the coordinates of the base of the Gough-Stewart
Base Coordinates
Point No X Y Z
1 355 121 0
2 -73.5 367.5 0
3 -281.5 247.5 0
4 -281.5 -247.5 0
5 -73.5 -367.5 0
6 355 -121 0
Table2: the coordinates of the moving platform of the Gough-Stewart
Moving Platform Coordinates
Point No X Y Z
1 144.5 172.5 600
2 77 211.5 600
3 -221.5 39 600
4 -221.5 -39 600
5 77 -211.5 600
6 144.5 -172.5 600

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 Journal of University of Babylon for Engineering Sciences, Vol. (26), No. (6): 2018.

Fig (2): Fixed base of the Stewart

Fig (3): The moving platform of the Stewart

Inverse kinematics is the calculation of the links length, in order to satisfy a
position and orientation of the moving platform center. It is commonly used for trajectory
generation [7]. To find the inverse kinematics of the Stewart based on the geometry of the
Gough-Stewart manipulator, which shown in Fig. (4), the lengths of all links are function
of the position and orientation of the moving platform center, the inverse analysis is
expressed as in the equations below.

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 Journal of University of Babylon for Engineering Sciences, Vol. (26), No. (6): 2018.

Fig (4): Description of the Stewart.

𝐿𝑖 = 𝑟𝑜 𝐺 + 𝑅𝐿𝐺 . 𝑃𝑖 𝐿 − 𝑏𝑖 𝐺 [8] … (1)

i=1…6
𝑟𝑜 𝐺 = [𝑋 𝑌 𝑍]𝑇
𝑎11 𝑎12 𝑎13
𝑅𝐿𝐺 = 𝑅𝑧 (𝛾). 𝑅𝑦 (𝛽). 𝑅𝑥 (𝛼) = [ 𝑎21 𝑎22 𝑎23 ]
𝑎31 𝑎32 𝑎33
𝑃𝑖 𝐿 = [𝑝𝑥𝑖 𝑝𝑦𝑖 𝑝𝑧𝑖 ]𝑇

𝑏𝑖 𝐺 = [𝑏𝑥𝑖 𝑏𝑦𝑖 𝑏𝑧𝑖 ]𝑇

Where:
Li: is the length of i linkage.
𝑟𝑜 𝐺 : The coordinates of moving platform in the Global Coordinate system.
𝑅𝐿𝐺 : Rotation matrix of the local Coordinate system relative to Global coordinate system.
𝑃𝑖 𝐿 : The coordinates of i joint of with i link moving platform in the local coordinate
system.
𝑏𝑖 𝐺 : The coordinates of i joint of fixed platform with the I link in global coordinate
system.
𝑎11 =cos(𝛾) cos(𝛽)
𝑎12 =cos(𝛾) sin(𝛽) sin(𝛼)-sin(𝛾) cos(𝛼)
𝑎13 =cos(𝛾) sin(𝛽) cos(𝛼)+sin(𝛾) sin(𝛼)
𝑎21 =sin(𝛾) cos(𝛽)
𝑎22 =sin(𝛾) sin(𝛽) sin(𝛼)+cos(𝛾) cos(𝛼)

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 Journal of University of Babylon for Engineering Sciences, Vol. (26), No. (6): 2018.

𝑎23 =sin(𝛾) sin(𝛽) cos(𝛼)-cos(𝛾) sin(𝛼)

𝑎31 =-sin(𝛽)
𝑎32 =cos(𝛽) sin(𝛼)
𝑎33 =cos(𝛽) cos(𝛼)
The length of i linkage can be obtained from the equation below which is derived
by square equation (1.1):
𝑇 𝑇 𝑇 𝑇 𝑇
𝐿𝑖 . 𝐿𝑖 𝑇 = [𝑟𝑜 𝐺 . 𝑟𝑜 𝐺 + 𝑏𝑖 𝐺 . 𝑏𝑖 𝐺 + 𝑃𝑖 𝐿 . 𝑃𝑖 𝐿 + 2. 𝑃𝑖 𝐿 . 𝑅𝐿𝐺 . 𝑏𝑖 𝐺 − 2. 𝑏𝑖 𝐺 . 𝑅𝐿𝐺 . 𝑃𝑖 𝐿 −
𝑇
2. 𝑃𝑖 𝐿 . 𝑏𝑖 𝐺 ] …… (2)

From above equation the change in length of i linkage present in the following
equations:

𝑞𝑖 = ((𝑋 + ((𝑐𝑜𝑠(𝛾) ∗ 𝑐𝑜𝑠(𝛽)) ∗ 𝑝𝑥𝑖 ) + (((𝑐𝑜𝑠(𝛾) ∗ 𝑠𝑖𝑛(𝛽) ∗ 𝑠𝑖𝑛(𝛼)) −

(𝑠𝑖𝑛(𝛾) ∗ 𝑐𝑜𝑠(𝛼))) ∗ 𝑝𝑦𝑖 ) + (((𝑐𝑜𝑠(𝛾) ∗ 𝑠𝑖𝑛(𝛽) ∗ 𝑐𝑜𝑠(𝛼)) + (𝑠𝑖𝑛(𝛾) ∗ 𝑠𝑖𝑛(𝛼))) ∗

2
𝑝𝑧𝑖 ) − 𝑏𝑥𝑖 ) + (𝑌 + ((𝑠𝑖𝑛(𝛾) ∗ 𝑐𝑜𝑠(𝛽)) ∗ 𝑝𝑥𝑖 ) + (((𝑠𝑖𝑛(𝛾) ∗ 𝑠𝑖𝑛(𝛽) ∗ 𝑠𝑖𝑛(𝛼)) +

(𝑐𝑜𝑠(𝛾) ∗ 𝑐𝑜𝑠(𝛼))) ∗ 𝑝𝑦𝑖 ) + (((𝑠𝑖𝑛(𝛾) ∗ 𝑠𝑖𝑛(𝛽) ∗ 𝑐𝑜𝑠(𝛼)) − (𝑐𝑜𝑠(𝛾) ∗ 𝑠𝑖𝑛(𝛼))) ∗

2
𝑝𝑧𝑖 ) − 𝑏𝑦𝑖 ) + (𝑍 + ((−𝑠𝑖𝑛(𝛽)) ∗ 𝑝𝑥𝑖 ) + ((𝑐𝑜𝑠(𝛽) ∗ 𝑠𝑖𝑛(𝛼)) ∗ 𝑝𝑦𝑖 ) + ((𝑐𝑜𝑠(𝛽) ∗
𝑐𝑜𝑠(𝛼)) ∗ 𝑝𝑧𝑖 ) − 𝑏𝑧𝑖 )2 )0.5 − 𝐿𝑖 … (3)

3- MSC ADAMS software:

ADAMS full simulation package is a powerful modeling and simulating
environment that lets build, simulate, refine, and ultimately optimize any mechanical
system. ADAMS full simulation package [9].
3.1- Build the model:
The model of Stewart done in this software by design the base and moving platform
in solid works and the imported here to complete the six linkage between them. Finally,
insert the joints (universal, prismatic, and ball) as shown in fig (5).

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Fig (5): The Model in ADAMS

3.2- Insert the Equation of motion:
In this step, the equations (qi) inserted into the prismatic joints to get the motion.
3.3- Simulation the model:
The simulation of the model done after insert the equation of motion for each
prismatic joint.
3.4- MSC ADAMS results:
Finally, the ADAMS results include the length of the linkages at five positions,
which explained in figures.
4- Results and discussion:
In this section three positions and three orientations (X, Y, Z, α, β, γ) shown in the
table (3), which represent five position in the workspace in the workspace of the
manipulator used to calculate the length of the linkages at each position by substituted in
the inverse equations to get these lengths, which represented the theoretical calculation.
Then substituted these position and orientation in MSC ADAMS to obtain the
length of the linkages to compare with the length obtain from inverse equations.
Figure (6, 7, 8, 9, 10, and 11) shows the Stewart model in the MSC ADAMS. The
first figure shows the model at initial condition where the initial length equal to (0.625
mm) and the other five explained the model at five position as shown in table (3) by
insert the position (X, Y, and Z) and orientation (α, β, and γ ) in MSC.ADAMS model at
each point.
Figures (12, 13, 14, 15, and 16) explained the lengths of the linkages at the period
of the simulation at the five points, where any figure include the lengths of the six linkage
at any time during simulation.

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 Journal of University of Babylon for Engineering Sciences, Vol. (26), No. (6): 2018.

After calculation, the lengths of the linkages in theoretical and MSC.ADAMS at the
five points the difference between them explained in the figures (17, 18, 19, 20, and 21),
there are difference between the theoretical and ADAMS calculation.
Always the lengths of the linkages in ADAMS is smaller than from theoretical due
to the ADAMS software take the type of materials and friction in calculation, while do
not appear in inverse equation lead to these difference.
Table (3): the positions and orientations at points

Position and Orientation Position 1 Position 2 Position 3 Position 4 Position 5

X -0.1464 0.03853 0.04422 0.1324 0.115
Y -0.9921 -0.02765 -0.02775 -0.05686 -0.1754
Z 0.8173 0.6285 0.624 0.7485 0.7464
α -0.03709 0.2658 0.3004 0.1673 0.02394
β 0.8312 0.5569 0.4933 0.4337 1.51
γ 0.7613 0.8985 0.8316 1.133 1.414

Fig (6): Stewart at initial condition

Fig (7): Stewart at Position 1.

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Journal of University of Babylon for Engineering Sciences, Vol. (26), No. (6): 2018.

Fig (8): Stewart at Position 2.

Fig (9): Stewart at Position 3.

Fig (10): Stewart at Position 4.

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Journal of University of Babylon for Engineering Sciences, Vol. (26), No. (6): 2018.

Fig (11): Stewart at Position 5.

Fig (12): Stewart linkages length Position 1.

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Journal of University of Babylon for Engineering Sciences, Vol. (26), No. (6): 2018.

Fig (13): Stewart linkages length Position 2.

Fig (14): Stewart linkages length Position 3.

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Journal of University of Babylon for Engineering Sciences, Vol. (26), No. (6): 2018.

Fig (15): Stewart linkages length Position 4.

Fig (16): Stewart linkages length Position 5.

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Journal of University of Babylon for Engineering Sciences, Vol. (26), No. (6): 2018.

0.92
0.9
0.88

Lengths of Linkages
0.86
0.84
0.82
0.8
0.78
0.76
6 5 4 3 2 1
ADAMS 0.8852 0.8483 0.8642 0.8165 0.8103 0.8985
Theoretical 0.8941 0.8575 0.8735 0.8264 0.8205 0.9077

Fig (17): Stewart linkages length.

0.69

0.68

0.67

0.66 Legths of Linkages

0.65

0.64

0.63

0.62

0.61
6 5 4 3 2 1
ADAMS 0.6422 0.6732 0.6656 0.651 0.6599 0.6498
Theoretical 0.6534 0.6844 0.6757 0.66 0.6674 0.658

Fig (18): Stewart linkages length.

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Journal of University of Babylon for Engineering Sciences, Vol. (26), No. (6): 2018.

0.69
0.68

Lengths of Linkages
0.67
0.66
0.65
0.64
0.63
0.62
0.61
6 5 4 3 2 1
ADAMS 0.6362 0.6707 0.6631 0.6477 0.6574 0.644
Theoretical 0.6476 0.6818 0.6727 0.6568 0.6646 0.6518

Fig (19): Stewart linkages length.

0.84
0.82
0.8

Legths of Linkages
0.78
0.76
0.74
0.72
0.7
0.68
6 5 4 3 2 1
ADAMS 0.7429 0.8208 0.8051 0.7773 0.7965 0.7529
Theoretical 0.7539 0.8309 0.8145 0.7865 0.8046 0.7617

Fig (20): Stewart linkages length.

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Journal of University of Babylon for Engineering Sciences, Vol. (26), No. (6): 2018.

0.88
0.86
0.84

Lengths of Linkages
0.82
0.8
0.78
0.76
0.74
0.72
0.7
0.68
6 5 4 3 2 1
ADAMS 0.7785 0.7868 0.7521 0.8461 0.8497 0.7566
Theoretical 0.7881 0.7963 0.7618 0.8547 0.8582 0.7662

Fig (21): Stewart linkages length.

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 Journal of University of Babylon for Engineering Sciences, Vol. (26), No. (6): 2018.

5- Conclusion:
This work explained how to calculate the lengths of the linkages of the Gough-
Stewart robot manipulator by using the inverse equation and ADAMS software. At point
(1) the lengths change in theoretical (45.232, 31.28, 32.224, 39.76, 37.2, and
43.056) percentage from initial length (0.625m), while in ADAMS at same
points (43.76, 29.648, 30.64, 38.272, 35.728, and 41.632) percentage from initial
length. In addition, with respect to the other points, there are a difference between the
theoretical and ADAMS, due to the software deals with the model as an actual model by
including the type of materials and the friction between the different parts of the model.

6- Reference:
[1] Serdar Küçük, 2012. ''SERIAL AND PARALLEL ROBOT MANIPULATORS –
KINEMATICS, DYNAMICS, CONTROL AND OPTIMIZATION'', INTECH.
[2] KAI LIU, FRANK LEWIS, GUY LEBRET, and DAVID TAYLOR, , 1993, ''The
Singularities and Dynamics of a Stewart Platform Manipulator'', Journal of
Intelligent and Robotic Systems, Vol. 287-308.
[3] Bhaskar and Mruthyunjaya, 1998, ''The Stewart platform manipulator: a review'',
Mechanism and Machine Theory, Vol. 35, pp. 15-40.
[4] Lebret G., Liu ' K. and Lewis F. L., Oct. 1993, ''Dynamic Analysis and Control of
a Stewart Platform Manipulator'', Journal of Robotic Systems, Vol. 10(5), pp.629-
655.
[5] Baokun et.al., Jun.2013, ''Singularity Representation and Workspace
Determination of a Special Class of the Gough-Stewart Platforms'', International
Journal of Advanced Robotic Systems, Vol.10, pp.1-13.
[6] Lung-Wen Tsai, March.2000, ''Solving the Inverse Dynamics of a Stewart-Gough
Manipulator by the Principle of Virtual Work'', Journal of Mechanical Design,
Vol. 122.
[7] Gonzalez H., Dutra M. S., Lengerke O., June. 2011, ''Direct and inverse kinematics
of Stewart platform applied to offshore cargo transfer simulation'', 13th World
Congress in Mechanism and Machine Science, Guanajuato, México,Vol. 19-25.
[8] Domagoj Jakobovic and Leo Budin, 2006, ''Forward Kinematics of a Stewart
Platform Mechanism'', Faculty of Electrical Engineering and Computing, vol.1000,
pp.1-6.
[9] MSC.ADAMS, ''Basic ADAMS Full Simulation Training Guide'', VERSION
11.0.

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(MSC ADAMS)

20071@uotechenology.edu.iq me.21328@uotechnology.edu.iq

(MSC ADAMS

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