Orientation-Workspace Analysis of a Special Class of the Stewart-Gough Parallel Manipulators

被引：0

作者：

Cao, Yi ^{[1
]}

Zhou, Hui ^{[1
]}

Li, Baokun ^{[2
]}

Zhang, Qiuju ^{[1
]}

机构：

[1] Jiangnan Univ, Sch Mech Engn, 1800 Lihu Rd, Wuxi 214122, Jiangsu, Peoples R China

[2] Anhui Univ Sci & Technol, Sch Mech Engn, Huainan 232001, Anhui, Peoples R China

来源：

CCDC 2009: 21ST CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6, PROCEEDINGS | 2009年

关键词：

Orientation-Singularity; Orientation-Workspace; Nonsingular Orientation-Workspace; DESIGN; ROBOT;

D O I：

暂无

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 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.

引用

页码：4632 / +

页数：2

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