Determination of the maximal singularity-free orientation workspace for the Gough-Stewart platform

被引：81

作者：

Jiang, Qimi ^{[1
]}

Gosselin, Clement M. ^{[1
]}

机构：

[1] Univ Laval, Dept Mech Engn, Quebec City, PQ G1V 0A6, Canada

来源：

MECHANISM AND MACHINE THEORY | 2009年 / 44卷 / 06期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Gough-Stewart platform; Roll-Pitch-Yaw angles; Workspace surface; Maximal singularity-free orientation workspace; PARALLEL; MANIPULATOR;

D O I：

10.1016/j.mechmachtheory.2008.07.005

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This work addresses the determination of the maximal singularity-free orientation workspace at a prescribed position of the Gough-Stewart platform. Using the Roll-Pitch-Yaw angles (phi, theta, psi), the orientation workspace at a prescribed position can be defined by up to 12 workspace surfaces. A numerical algorithm is developed to determine these 12 workspace surfaces in order to obtain the maximal singularity-free orientation workspace as well as the corresponding leg length ranges. Besides, to compare the maximal singularity-free orientation workspace with the maximal singularity-free sphere, an iterative algorithm for determining the maximal singularity-free sphere is also provided. (C) 2008 Elsevier Ltd. All rights reserved.

引用

页码：1281 / 1293

页数：13

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