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This research has investigated the kinematics equations of a three-leg Stewart platform, which include forward kinematics, inverse kinematics and velocity kinematics. In the meantime, we perform the mathematical model and hardware-in-the-loop simulation and verification on PC very successfully. In the future, we will accomplish the dynamic analysis and simulation of platform. Furthermore, the capability of the payload and angular rate will be enhanced and evaluated for the possibility to modify or rebuild the system. In addition, we analyze the phenomenon of the singularity with mathematical model. Hardware-in-the-loop (HIL) simulation is a real-time simulation by using platform real body instead of forward kinematics mathematical model. Through HIL simulation, all the platform dynamic response can be simulated and verified. In this thesis, we not only derive the kinematics equation, but also accomplish all the algorithm and I/O driver by using C++ program on PC.
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