Orientation-Workspace Analysis of a Special Class of the Stewart-Gough Parallel Manipulators
This paper addresses the orientation-workspace analysis of a special class of the Stewart-Gough manipulators. Based on half-angle transformation, a polynomial expression of thirteen degree representing the orientation-singularity locus of the manipulator at a fixed position is derived and examples are given to illustrate the result. Applying half-angle transformation and the inverse kinematics solution of this special class of the Stewart-Gough parallel manipulator, a discretization method is proposed for computing the orientation-workspace of the manipulator taking limitations of active and passive joints and the link interference into consideration. Based on this algorithm, this paper also presents a new discretization method for computing nonsingular orientation-workspace of the manipulator, which can guarantee the manipulator is nonsingular in the whole orientation-workspace. Examples of a 6/6-SPS Stewart-Gough manipulator are given to demonstrate these theoretical results.
Orientation-Singularity Orientation-Workspace Nonsingular Orientation-Workspace
Yi Cao Hui Zhou Baokun Li Qiuju Zhang
School of Mechanical Engineering, Jiangnan University, 1800 Lihu Road, Wuxi, Jiangsu 214122, China School of Mechanical Engineering, Anhui University of Science and Technology, Huainan, Anhui 232001,
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
4632-4637
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）