Kinematic analysis of a stewart platform based on afsa

The direct kinematic problems (DKP) are of great importance for the design, use and control of Stewart platforms. It is proved that finding the solutions to DKP is still a basic and challenging problem. In this paper, the kinematics of a 6-6 Stewart platform has been investigated. The inverse and direct kinematic models have been developed. By employing the artificial fish swarm algorithm (AFSA), the solutions to the DKP are found. The results indicate that AFSA is an effective tool for solving DKPs of Stewart platforms. AFSA can be extended to solve other parallel mechanisms’ DKPs.