ISSN 10526188, Journal of Machinery Manufacture and Reliability, 2010, Vol. 39, No. 4, pp. 305–312.

© Allerton Press, Inc., 2010.

Original Russian Text © Yu.A. Alyushin, S.A. Elenev, 2010, published in Problemy Mashinostroeniya i Nadezhnosti Mashin, 2010, No. 4, pp. 3–11.

MACHINERY
MECHANICS

Mathematical Model of Stewart Platform Motion

Yu. A. Alyushin and S. A. Elenev
Moscow, Russia
Received March 3, 2010

Abstract—A mathematical model of the mechanism of movement of an undeformed platform with six
degrees of freedom is proposed. The equations of spatial motion of particles of the platform are derived
using the principle of superposition of motions in Lagrangian space. Their derivation with respect to
time allows any kinematic and associated energy characteristics of the movement to be determined.
The conditions of energy balance are converted to a system of equations for determining the forces in
kinematic pairs in all versions of the platform motion. The model can be used to improve the mecha
nisms of technological machines, including the positioning of their working groups.
DOI: 10.3103/S1052618810040011

A Stewart platform [1] is called a form of manipulator with six degrees of freedom, which allows one
to provide a given position and orientation of the surface in the vicinity of any point of the platform on its
three Cartesian coordinates and projections of the unit normal vector.
The platform motion is implemented with the help of six telescopically connected pairs of links
attached with spherical bearings to the mobile and stationary platforms (figure), which served as the basis
for the emergence of a new term “hexapod.” Recently, they became fairly widespread in tool positioning
systems in engineering and medicine, in simulators of aircraft and military equipment, for the orientation
of telescopes and antennas, etc.
Rich opportunities of the Stewart platform in various areas provided the impetus for the development
of various mathematical models to manage its motion. The theme of hexapods both by examples of their
application and by the diversity of their research capacity has become one of the most popular on the
Internet [2, 3].
This paper presents a mathematical model describing the hexapod motion in Lagrange form. Applying
the principle of superposition of motions [4] allowed us to obtain relatively simple equations to determine
all kinematic and dynamic characteristics of the implementation of the energy balance at any time.
Consider the motion of an undeformed platform ABC in a fixed Cartesian reference frame of the
observer, whose position determines the coordinates of the three basic points (figure) Aj ∈ (A, B, C) with
coordinates Aj(xAj, yAj, zAj): A(xA, yA, zA), B(xB, yB, zB), C(xC, yC, zC).
To describe the motion, we use the equations in Lagrange form
x = x ( α, β, γ, t ), y = y ( α, β, γ, t ), z = z ( α, β, γ, t ).

z
A C

B
A1 C2
y
A2
C1
B1
x B2
Figure.

305
306 ALYUSHIN, ELENEV

As the Lagrangian variables αp ∈ (α, β, γ), we take the coordinates of points at t = 0: α = x0, β = y0, γ = z0,
including for the base points
A j, 0 ( α Aj, β Aj, γ Aj ): A 0 ( α A, β A, γ A ), B 0 ( α B, β B, γ B ), C 0 ( α C, β C, γ C ).
The equations of spatial motion of any particle of the platform can be obtained using the principle of
superposition in the space of Lagrangian coordinates [4], whereby to obtain an equation of combined
motion, it is sufficient to replace the Lagrange variables of external (imposed) motion by the expressions
for the Euler variables of internal (embedded) motion. Both movements must be written in one coordinate
system. The final form of the equations depends on the sequence of applying the translational and rota
tional motions. For simple rotational motions relative to the axes passing through the pole P of the plat
form (as a pole, one can choose any of the points, including A, B, C) parallel to the axes, the equations
have the following form [5]:
for rotation relative to an axis parallel to Ox,
x = α, y = β P + ( β – β P ) cos Δϕ x – ( γ – γ P ) sin Δϕ x ,

z = γ P + ( β – β P ) sin Δ ϕ x + ( γ – γ P ) sin Δϕ x ,
for rotation relative to an axis parallel to Oy,
x = α P + ( α – α P ) cos Δϕ y + ( γ – γ P ) sin Δϕ y ,

y = β, z = γ P – ( α – α P ) sin Δ ϕ y + ( γ – γ P ) cos Δ ϕ y ,
for rotation relative to an axis parallel to Oz,
x = α P + ( α – α P ) cos Δϕ z – ( β – β P ) sin Δϕ z ,

y = β P + ( α – α P ) sin Δϕ z + ( β – β P ) cos Δϕ z , z = γ.
Replacing the Lagrangians of external movement by expressions for the corresponding Eulerians of
internal motion [4], we obtain the equations of combined rotational, for example, relative to the axis x (of
external) and y (of internal) motion:
x = α P + ( α – α P ) cos Δϕ y + [ ( β – β P ) sin Δϕ x + ( γ – γP ) cos Δϕ x ] sin Δϕ y ,

y = β P + ( β – β P ) cos Δϕ x – ( γ – γ P ) sin Δϕ x ,

z = γ P – ( α – α P ) sin Δ ϕ y + [ ( β – β P ) sin Δϕ x + ( γ – γ P ) cos Δϕ x ] cos Δ ϕ y .

After applying the rotation relative to the axis z and translational movement of the pole with projections
ui, we finally obtain
x = α P + { ( α – α P ) cos Δϕ y + [ ( β – β P ) sin Δϕ x + ( γ – γ P ) cos Δϕ x ] sin Δϕ y } cos Δϕ z
– [ ( β – β P ) cos Δϕ x – ( γ – γ P ) sin Δϕ x ] sin Δϕ z + u x ,
y = β P + { ( α – α P ) cos Δϕ y + [ ( β – β P ) sin Δϕ x + ( γ – γ P ) cos Δϕ x ] sin Δϕ y } sin Δϕ z
+ [ ( β – β P ) cos Δϕ x – ( γ – γ P ) sin Δϕ x ] cos Δϕ z + u y , (1)
z = γ P – ( α – α P ) sin Δϕ y + [ ( β – β P ) sin Δϕ x + ( γ – γ P ) cos Δϕ x ] cos Δϕ y + u z .
System (1) corresponds to arbitrary spatial motion of the platform ABC as a rigid body [6]; the lengths
of all segments and volumes of particles at any given time remain the same as the distances between the
base points of the platform
2 2 2 2
L AjAi = ( α Ai – α Aj ) + ( β Ai – β Aj ) + ( γ Ai – γ Aj )
(2)
2 2 2
= ( x Ai – x Aj ) + ( y Ai – y Aj ) + ( z Ai – z Aj ) = const,
for example,
2 2 2 2 2 2 2
L AB = ( α B – α A ) + ( β B – β A ) + ( γ B – γ A ) = ( x B – x A ) + ( y B – y A ) + ( z B – z A ) .

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 MATHEMATICAL MODEL OF STEWART PLATFORM MOTION 307

To avoid the appearance of complex multistory indices, in Eq. (2) and the formulas below, the lower
and upper indices are recorded only at one level in maintaining their order. Values of the angles ϕxi between
a normal to the plane ABC
ax + by + cz + d = 0
and the coordinate axes of the observer are determined by the coordinates of base points [7]
a
cos ϕ x = 
, b
cos ϕ y = 
, c
cos ϕ z = 
,
2 2 2 2 2 2 2 2 2
± a +b +c ± a +b +c ± a +b +c
where

yA zA 1 zA xA 1 xA yA 1 xA yA zA
a = yB zB 1 , b = zB xB 1 , c = xB yB 1 , d = – xB yB zB .
yC zC 1 zC xC 1 xC yC 1 xC yC zC

2 2 2
The sign before the square root should be chosen so that the condition p = ± d/ a + b + c > 0 with the
sign of determinant d taken in account.
Equations (1) allow an arbitrary change of both the linear ui, t, ui, tt and the angular ϕi, t, ϕi, tt velocities
and acceleration. They fully determine the trajectories of the particles of the platform, including instru
ments fixed on it, as well as energy and dynamic characteristics of the movement. In particular, differen
tiating the system (1) with respect to time for the components of the velocity of motion of any particle of
the platform, we obtain the linear function of the angular velocities
xi, t xi, t xi, t
x i, t = u i, t + ϕ x, t Φ ϕx, t + ϕ y, t Φ ϕy, t + ϕ z, t Φ ϕz, t . (3)
xi, t
The lower index of factors Φ ϕxi, t indicates the component of the corresponding angular velocity, and
xi, t
the upper index indicates the component of the determined linear velocity. The equations for Φ ϕxi, t have
the form
xt
Φ ϕx, t = ( y – β P ) sin Δϕ y cos Δϕ z + ( z – γ P ) sin Δϕ z ,
xt
Φ ϕy, t = – [ ( α – α P ) sin Δϕ y – ( z – γ P ) cos Δϕ y ] cos Δϕ z ,
xt
Φ ϕz, t = – [ ( α – α P ) cos Δϕ y + ( z – γ P ) sin Δϕ y ] sin Δϕ z – ( y – β P ) cos Δϕ z ,
yt
Φ ϕx, t = ( y – β P ) sin Δϕ y sin Δϕ z – ( z – γ P ) cos Δϕ z ,
yt
Φ ϕy, t = – [ ( α – α P ) sin Δϕ y – ( z – γ P ) cos Δϕ y ] sin Δϕ z , (4)
yt
Φ ϕz, t = [ ( α – α P ) cos Δϕ y + ( z – γ P ) sin Δϕ y ] cos Δ ϕ z – ( y – β P ) sin Δ ϕ z ,
zt
Φ ϕx, t = ( y – β P ) cos Δϕ y ,
zt
Φ ϕy, t = – ( α – α P ) cos Δϕ y + ( z – γ P ) sin Δϕ y },
zt
Φ ϕz, t = 0.

Repeating the differentiation, we can obtain the equations for acceleration.

If platform management is implemented by six rods Aj Ajk, connecting the base points Aj with fixed
points in the space of the observer Ajk(xAjk, yAjk, zAjk), where k ∈ (1, 2) (figure shows the option where all

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308 ALYUSHIN, ELENEV

fixed reference points are on a fixed platform in the plane z = 0), for example, A1(xA1, yA1, zA1), A2(xA2, yA2,
zA2), and so on, then for an arbitrary moment of time we can find their length
2
L AjAjk = ( x Aj – x Ajk ) ( x Aj – x Ajk ),

for example,
2 2 2 2
L AA1 = ( x A – x A1 ) + ( y A – y A1 ) + ( z A – z A1 ) ,
2 2 2 2
L AA2 = ( x A – x A2 ) + ( y A – y A2 ) + ( z A – z A2 ) ,

and the speed of their changes

( L AjAjk ) t = ( x Aj – x Ajk ) ( x t ) Aj /L AjAjk ,

for example,
( L AA1 ) t = [ ( x A – x A1 ) ( x t ) A + ( y A – y A1 ) ( y t ) A + ( z A – z A1 ) ( z t ) A ]/L AA1 . (5)

The rate of change of the lengths of support rods (5) should be in agreement with the angular and linear
velocity of the platform movement in accordance with Eqs. (3).
The power of external forces transmitted by the platform through the efforts of QAj at the base points Aj
∈ (A, B, C) is determined by the sum of scalar products of force vectors QAj and the velocity of these points:
Aj
We = Q i ( x i, t ) Aj with summation over the indices i and j, or, in expanded form,
A A A B B B
We = Qx ( xt )A + Qy ( yt )A + Qz ( zt )A + Qx ( xt )B + Qy ( yt )B + Qz ( zt )B
(6)
C C C
+ Qx ( xt )C + Qy ( yt )C + Qz ( zt )C .

This power is expended on the change in kinetic energy of translational and rotational motion of the
platform
W k = m ( x t x tt + y t y tt + z t z tt ) M + ϕ x, t ϕ x, tt J x + ϕ y, t ϕ y, tt J y + ϕ z, t ϕ z, tt J z ,

the rate of change of potential energy in the gravitational field of Earth

W p = mg ( z t ) M ,

where m is the mass, M is the center of mass of the platform ABC, Ji are the moments of inertia with respect
to the respective central axes of the platform, and the power developed by technological forces Ti, for
example, at the point N in the performance of the corresponding operation,
WT = Tx ( xt )N + Ty ( yt )N + Tz ( zt )N .

Efforts QAjAjk in bars Aj Ajk must ensure the energy identity

∑Q
AjAjk
Wk + Wp + WT = ( L AjAjk ) t = W e . (7)

With the notation (4), the energy balance equation (7) takes the form
xt xt xt
m ( x tt ) M [ ( x t ) P + ϕ x, t ( Φ ϕx, t ) M + ϕ y, t ( Φ ϕy, t ) M + ϕ z, t ( Φ ϕz, t ) M ]
yt yt yt
+ m ( y tt ) M [ ( y t ) P + ϕ x, t ( Φ ϕx, t ) M + ϕ y, t ( Φ ϕy, t ) M + ϕ z, t ( Φ ϕz, t ) M ]
zt zt zt
+ m ( z tt ) M [ ( z t ) P + ϕ x, t ( Φ ϕx, t ) M + ϕ y, t ( Φ ϕy, t ) M + ϕ z, t ( Φ ϕz, t ) M ]
+ ϕ x, t ϕ x, tt J x + ϕ y, t ϕ y, tt J y + ϕ z, t ϕ z, tt J z
xt xt xt
+ ( T x ) N [ ( x t ) P + ϕ x, t ( Φ ϕx, t ) N + ϕ y, t ( Φ ϕy, t ) N + ϕ z, t ( Φ ϕz, t ) N ]

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 MATHEMATICAL MODEL OF STEWART PLATFORM MOTION 309

yt yt yt
+ ( T y ) N [ ( y t ) P + ϕ x, t ( Φ ϕx, t ) N + ϕ y, t ( Φ ϕy, t ) N + ϕ z, t ( Φ ϕz, t ) N ]
zt zt zt
+ ( T z ) N [ ( z t ) P + ϕ x, t ( Φ ϕx, t ) N + ϕ y, t ( Φ ϕy, t ) N + ϕ z, t ( Φ ϕz, t ) N ]
A A A B B B
= Qx ( xt )A + Qy ( yt )A + Qz ( zt )A + Qx ( xt )B + Qy ( yt )B + Qz ( zt )B
C C C
+ Qx ( xt )C + Qy ( yt )C + Qz ( zt )C .
Aj
The projections of forces at each point Q i are equal to the sum of the corresponding projections of the
AjAjk Aj AjAj1 AjAj2
forces in the bars Q i fixed at these points Q i = Q i + Qi .
AjAjk
Since the position of the rods Aj Ajk at any moment of time is known, the projection of forces Q i can
AjAjk
be determined by their magnitude QAjAjk and directional cosines Qi = QAjAjk cos(xi, Aj Ajk) at
cos(xi, Aj Ajk) = [(xi)Aj – (xi)Ajk]/LAjAjk, for example,
cos ( x, AA1 ) = [ ( x ) A – ( x ) A1 ]/L AA1 , cos ( x, AA2 ) = [ ( x ) A – ( x ) A2 ]/L AA2 .

Equating the coefficients of the velocities (xt)P, (yt)P, (zt)P, ϕx, t, ϕy, t, ϕz, t on the left and right sides of
the energy balance (7), we obtain an inhomogeneous system of six linear equations
AjAjk AjAjk
Φ θt, t Q = Φ θt, t , (8)
which contains six unknown longitudinal forces QAjAjk occurring in the platform supporting rods Aj Ajk with
generalized coordinates θi ∈ (xi, ϕxi) and their rates θi, t ∈ (xi, t, ϕxi, t), three equations each for the linear
velocities of the pole
AA1 AA1 AA2 AA2 BB1 BB1 BB2 BB2 CC1 CC1 CC2 CC2
Φ xi, t Q + Φ xi, t Q + Φ xi, t Q + Φ xi, t Q + Φ xi, t Q + Φ xi, t Q = Φ xi, t , (8a)

and the angular velocities of rotation of the platform

AA1 AA1 AA2 AA2 BB1 BB1 BB2 BB2
Φ ϕxi, t Q + Φ ϕxi, t Q + Φ ϕxi, t Q + Φ ϕxi, t Q
(8b)
CC1 CC1 CC2 CC2
+ Φ ϕxi, t Q + Φ ϕxi, t Q = Φ ϕxi, t

On the righthand sides of Eqs. (8a) and (8b), we use the notation
Φ xi, t = m ( x i, tt ) M + ( T xi ) N ,
xi, t xi, t
Φ ϕxi, t = m ( x i, tt ) M ( Φ ϕxi, t ) M + ( T xi ) N ( Φ ϕxi, t ) N + ϕ xi, tt J xi

with the summation over xi, t, for example,

xt yt zt
Φ ϕz, t = m ( x tt ) M ( Φ ϕz, t ) M + m ( y tt ) M ( Φ ϕz, y ) M + m ( z tt ) M ( Φ ϕz, t ) M
xt yt zt
+ ( T x ) N ( Φ ϕz, t ) N + ( T y ) N ( Φ ϕz, t ) N + ( T z ) N ( Φ ϕz, t ) N + ϕ z, tt J z .

The coefficients of the linear velocities on the lefthand side of Eqs. (8a) coincide with the directional
AjAjk
cosines of rods in their current state Φ xi, t = (xi, Aj – xi, Ajk)/LAjAjk, for example,
AA1 AA2
Φ xt = [ ( x ) A – ( x ) A1 ]/L AA1 , Φ xt = [ ( x ) A – ( x ) A2 ]/L AA2 ,
CC1 CC2
Φ zt = [ ( z ) C – ( z ) C1 ]/L CC1 , Φ zt = [ ( z ) C – ( z ) C2 ]/L CC2 .

For factors with the angular velocity on the lefthand side of Eqs. (8b), if we take point A as pole P, we
obtain
AA1 AA2 AA1 AA2 AA1 AA2
Φ ϕxt = 0, Φ ϕxt = 0, Φ ϕyt = 0, Φ ϕyt = 0, Φ ϕzt = 0, Φ ϕzt = 0.

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310 ALYUSHIN, ELENEV

For the remaining factors, we can use the abbreviated notation (with the summation over xi)
AjAjk xi, t
Φ ϕxi, t = { [ ( x i ) Aj – ( x i ) Ajk ]/L AjAjk } ( Φ ϕxi, t ) Aj ,

for example,
BB1 xt yt
Φ ϕxt = { [ ( x ) B – ( x ) B1 ]/L BB1 } ( Φ ϕxt ) B + { [ ( y ) B – ( y ) B1 ]/L BB1 } ( Φ ϕxt ) B
zt
+ { [ ( z ) B – ( z ) B1 ]/L BB1 } ( Φ ϕxt ) B ,
CC2 xt yt
Φ ϕzt = { [ ( x ) C – ( x ) C2 ]/L CC2 } ( Φ ϕzt ) C + { [ ( y ) C – ( y ) C2 ]/L CC2 } ( Φ ϕzt ) C
zt
+ { [ ( z ) C – ( z ) C2 ]/L CC1 } ( Φ ϕzt ) C .

The solution of the linear system (8) presents no difficulties. If the linear and angular accelerations are
neglected, then the system is converted to the corresponding quasiequilibrium state of the system.
Consider the special case of the translational motion divided in time and then rotary motion of the
platform. Let in the first stage the platform perform translational motion along an arbitrary curve. Angular
displacements, velocities, and accelerations on all three axes go to zero, and Eqs. (1) for the coordinates
take the form xi = αi + ui. For the velocities (5) and accelerations, respectively, we obtain xi, t = (xi, t)P,
xi, tt = (xi, tt)P. The equations for the current length of the rods and their rate of change are converted to the
form
2
L AjAjk = ( α i, Aj + u i – x i, Ajk ) ( α i, Aj + u i – x i, Ajk ),

( L AjAjk ) t = ( α i, Aj + u i – x i, Ajk )u i, t /L AjAjk

for example,
2 2 2 2
L AA2 = ( α A + u x – x A2 ) + ( β A + u y – y A2 ) + ( γ A + u z – z A2 ) ,

( L AA2 ) t = [ ( α A + u x – x A2 )u x, t + ( β A + u y – y A2 )u y, t + ( γ A + u z – z A2 )u z, t ]/L AA2 .

Taking into account

xt xt xt
Φ ϕx, t = 0, Φ ϕy, t = – ( γ – γ A ), Φ ϕz, t = – ( γ – γ A ),
yt yt yt
Φ ϕx, t = – ( γ – γ A ), Φ ϕy, t = 0, Φ ϕz, t = ( α – α A ),
zt zt zt
Φ ϕx, t = ( β – β A ), Φ ϕy, t = – ( α – α A ), Φ ϕz, t = 0.

from the equation of energy balance (8), we obtain for six unknown forces QAjAjk six equations of the type

⎛ Q AA1 (
x ) A – ( x ) A1 AA2 ( x ) A – ( x ) A2⎞ BB1 ( x ) B – ( x ) B1
 + ⎛ Q 
 + Q 
BB2 ( x ) B – ( x ) B2⎞
 + Q 

⎝ L AA1 L AA2 ⎠ ⎝ L BB1 L BB2 ⎠
CC1 ( x ) C – ( x ) C1 CC2 ( x ) C – ( x ) C2⎞
+ ⎛Q  = m ( x tt ) M + ( T x ) N ,
 + Q 

⎝ L CC1 L CC2 ⎠

⎛ Q BB1 (
y ) B – ( y ) B1 BB2 ( y ) B – ( y ) B2⎞
 ( γA – γB )
 + Q 
⎝ L BB1 L BB2 ⎠
BB1 ( z ) B – ( z ) B1 BB2 ( z ) B – ( z ) B2⎞
+ ⎛Q  ( βB – βA )
 + Q 

⎝ L BB1 L BB2 ⎠
CC1 ( y ) C – ( y ) C1 CC2 ( y ) C – ( y ) C2⎞
+ ⎛Q  ( γA – γC )
 + Q 

⎝ L CC1 L CC2 ⎠

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 MATHEMATICAL MODEL OF STEWART PLATFORM MOTION 311

CC1 ( z ) C – ( z ) C1 CC2 ( z ) C – ( z ) C2⎞

+ ⎛Q  ( βC – βA )
 + Q 

⎝ L CC1 L CC2 ⎠
= m ( y tt ) M ( γ A – γ M ) + m ( z tt ) M ( β A – β M ) + ( T y ) N ( γ A – γ N ) + ( T z ) N ( β A – β N ).

Under rotational motion about a fixed point (ui = 0), we can, for simplicity, break the process into three
phases with rotation relative to one axis for each of them. For example, during rotation relative to the axis
parallel to Ox (Δϕx ≠ 0, Δϕy = Δϕz = 0), if as the pole we take the point A, the system (8) retains all six
xi, t
equations, and the multipliers Φ ϕxi, t take the values

xt xt
Φ ϕx, t = 0, Φ ϕy, t = ( β – β P ) sin Δϕ x + ( γ – γ P ) cos Δϕ x ,

xt
Φ ϕz, t = – [ ( β – β P ) cos Δϕ x – ( γ – γ P ) sin Δϕ x ],

yt yt yt
Φ ϕx, t = – [ ( β – β P ) sin Δϕ x + ( γ – γ P ) cos Δϕ x ], Φ ϕy, t = 0, Φ ϕz, t = ( α – α P ),

zt zt zt
Φ ϕx, t = [ ( β – β P ) cos Δ ϕ x – ( γ – γ P ) sin Δ ϕ x ], Φ ϕy, t = – ( α – α P ), Φ ϕz, t = 0.

Calculations of the efforts, as well as the kinematic characteristics, present no difficulties in any of the
variants of platform motion.
The proposed mathematical model of spatial movement of the platform driven by a sixrod mechanism
makes it possible to obtain the components of displacements, velocities, and accelerations and other kine
matic, energy, and power characteristics of the examined mechanism with the requirements of an execut
able process, including the following:
—ensuring the movement of the working body on the fixed trajectory with respect to the desired ori
entation on the whole route or just at the extreme points of the trajectory;
—finding the trajectory of any particle of the mechanism that allows several working bodies to be
placed on a platform;
—identifying the critical ratios between the dimensions where the mechanism ceases to be workable;
—investigating the influence of mass characteristics of links and changes in linear and angular accel
erations on the generalized forces, reduced to the centers of mass of links or axes of hinges;
—investigating the behavior of any chosen target function (for example, energy costs for technical
operations) and proposing methods of optimization of the mechanism for its extreme or other values.
The described technique of kinematic and dynamic analysis can be used to increase reliability and
improve the mechanisms of technological machines. For a comparative analysis of the mechanisms, the
identification of the most important kinematic and energy characteristics of the mechanism, including the
change in kinetic energy and generalized forces reduced to the centers of mass or axes of hinges, is stipu
lated.
The solution of the platform management problem when the change in the forces on the support rods
is set and it is required to determine the angular and linear accelerations of the base points can lead to a
system with no solutions in real numbers, if the given changes in forces are inconsistent with the model of
a rigid body, and it is required to spend part of the power on the deformation of the rods and the platform
controlled. To solve such problems, we must consider possible types of deformation [6] in the equations
of motion (1), as well the deformation of tensioncompression for support rods.

REFERENCES
1. Stewart, D., A Platform with Six Degrees of Freedom, UK Institution of Mechanical Engineers Proceedings,
1965–66, vol. 180, part 1, no. 15.

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312 ALYUSHIN, ELENEV

2. Yurchik, F.D., and Bykanova, A.Yu, Simulation of the Dynamic of Manipulative Mechanisms with Six Degrees
of Freedom, http://www.library.fentu.ru
3. Handel, V.S., and Sloushch, A.V., Power Analysis of the Stewart Platform with Account of NonIdeality of Con
nections, http://www.ertan.su
4. Alyushin, Yu.A., The Principle of Superposition of the Motion in the Space of Lagrange variables, Probl. Mash
inostr. Nadeznosti Mash., 2001, no. 3, pp. 13–19.
5. Alyushin, Yu.A., Energueticheskie osnovy mechaniki (Energetics Bases of Mechanics), Moscow: Mashinostroe
nie, 1999.
6. Alyushin, Yu.A., Mechanika processov deformacii v prostranstve peremennyh Lagrangea (The Mechanics of
Deformation Processes in the Space of Lagrange Variables), Moscow: Mashinostroenie, 1997.

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