Orientation-Singularity and Nonsingular Orientation-Workspace Analyses of the Stewart-Gough Platform Using Unit Quaternion Representation

被引:3
作者
Cao, Yi [1 ]
Ji, Weixi [1 ]
Li, Zhuo [1 ]
Thou, Hui [1 ]
Liu, Mengsi [1 ]
机构
[1] Jiangnan Univ, Sch Mech Engn, Wuxi 214122, Jiangsu, Peoples R China
来源
2010 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-5 | 2010年
关键词
Orientation-Singularity; Nonsingular Orientation-Workspace; Unit Quaternion Representation; 6-DOF PARALLEL MANIPULATORS; PROPERTY; ROBOT; KINEMATICS; LOCI;
D O I
10.1109/CCDC.2010.5498839
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper mainly addresses the orientation-singularity analysis and the nonsingular orientation-workspace computation of the Stewart-Gough Platform. Employing a unit quaternion to represent the orientation of the moving platform, an analytical symbolic expression that represents the orientation-singularity locus of the manipulator at a fixed position is derived. It is shown that for the Stewart-Gough Platform, it must exist a singularity free orientation void in the orientation space around the orientation origin for each position in the position-workspace. Using the orientation representation and applying the inverse kinematics solution of the Stewart-Gough Platform, a discretization method is proposed for the computation of the nonsingular orientation-workspace of the Stewart-Gough Platform. Based on the research on the orientation-singularity and nonsingular orientation-workspace of the manipulator, a new concept of "practical orientation-capability" is introduced as a performance index for the orientation-capability analysis of the Stewart-Gough Platform at a certain position in the position-workspace. Examples of a 6/6-SPS Stewart-Gough Platform are given to demonstrate these theoretical results.
引用
收藏
页码:2282 / 2287
页数:6
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