Forward and inverse kinematic analysis of different types of stewart platform mechanisms

The Stewart Platform Mechanism (SPM) is a six-degree-of-freedom parallel mechanism with two bodies connected by six extensible legs. This parallel manipulating structure is obtained from generalization of the machanism originally proposed by D. Stewart as a flight simulator in 1965. In this thesis, it was mentioned from general rules for better understanding of subjects. Parallel and series manipulators were explained and they were compared between each others. SPM which is a special kind of Parallel Mecanism was explained. Literature about SPM was reviewed. Development history and pioneering works were mentioned. It was studied on different kinds of SPMs which are 3-3, 6-3, and 6-6 SPM. For all of them, inverse kinematic analysis was expressed teoraticaly at one time. For each of them forward kinematic analyses were expressed teoraticaly. And then, It was indicated numerical examples which are made with Maple and Matlab-SimMechanics software programs for each of them. It was designed algorithm to get general solution function for different kinds of SPMs. So, it can be studied on general approach to define workspace of SPMs. Keywords: SPM, Stewart Platform Mechanism, Forward and inverse kinematic analyses of different kinds of SPMs, General algorithms, Workspace analysis.