A Geometric Modeling and Computing Method for Direct Kinematic Analysis of 6-4 Stewart Platforms

Table 3

Ten real solutions.

1		3.9672	1.6694	3.2853	−1.2546
		0.4233	1.6113	0.5543	0.9734
		4.1267	0.3440	4.8464	−2.3100
2		3.9844	0.0656	4.0347	−3.9222
		0.8633	2.9776	0.9909	3.2402
		4.0407	2.9579	5.0312	3.1266
3		3.9990	−0.0514	3.9757	−4.0473
		1.1023	3.0297	1.0191	2.8821
		3.9674	3.0296	4.9636	2.9236
4		4.0646	−0.2895	4.5438	−3.1386
		1.7833	3.1288	2.3513	5.9173
		3.6396	3.1583	2.9704	3.4851
5		4.1190	1.6609	4.9908	−0.2122
		2.1540	1.3125	2.4709	2.5765
		3.3678	−0.1071	2.9944	−3.7077
6		4.6080	0.4144	4.8572	−3.4566
		3.2959	2.8064	2.3558	1.8759
		0.9226	2.7044	0.6897	2.3178
7		5.2094	1.6165	5.3389	−2.2620
		1.2109	1.7665	0.2194	1.2649
		−2.0842	0.7055	−2.0784	1.5457
8		5.2173	1.6477	5.8529	0.0286
		−1.1033	1.2742	−0.3823	3.7367
		−2.1238	−0.5095	−2.3997	2.1950
9		5.2341	0.9164	5.1481	−2.3352
		−0.8230	0.7105	−1.7370	1.8885
		−2.2078	−2.2846	−2.6045	−4.2944
10		5.2535	0.7010	5.5092	−2.9281
		0.1857	0.64471	0.9000	0.4219
		−2.3051	−2.5567	−1.6533	−0.8893