Inverse modeling of the stewart foot

The Stewart's leg is used today in the majority of parallel robotic systems, such as Stewart platform, but also many other types mechanisms and kinematic chains, order to operate them or transmit motion. A special character study robots inverse kinematics, with help which map motor parameters necessary obtain trajectories imposed on effector can be made. For this reason, proposed mechanism, we will present reverse modeling paper. output parameters, ie foot practically end effector, those point marked T, determined for initiating working algorithm logical functions, "If log(ical)", observation that here they play role input parameters; it positioned already specified kinematics when considered output. functions used, well entire calculation program were written Math Cad.