Orientation workspace analysis for different types of 6-DOF parallel manipulators

摘要：

　　This paper presents a general method to develop an orientation workspace for different types of 6-DOF parallel manipulators.The workspace boundary can be determined using the proposed method if the equations for inverse kinematics can be developed.The boundary is developed by solving the equations,but the results shows that a search technique that uses the bisection method is more efficient,if the equations are 4th or higher order polynomials.The boundary of a workspace can be determined in less than 5 minutes,using a personal computer,if a singularity-free joint space is used to develop the workspace.

关键词： 6-DOF parallel manipulators Orientation Workspace Compatible Singularity Stewart-Gough 3-URS

作者: C.K.Huang K.Y.Tsai

作者单位: Department of Mechanical Engineering,National Taiwan University of Science and Technology,Taipei,Taiwan 10672

会议类型: 国际会议

会议名称: The 3th IFToMM Asian Conference on Mechanism and Machine Science 2014 International Conference on Mechanism and Machine Science,2014(第三届IFTOMM亚洲机构与机器科学会议暨2014海峡两岸机构学学术会议)

会议地点: 天津

会议语种:英文

页码: 1-7

在线出版日期: 2014-07-06（万方平台首次上网日期，不代表论文的发表时间）