Maximal Singularity-Free Total Orientation Workspace of the Gough-Stewart Platform

被引：11

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：

JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2009年 / 1卷 / 03期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Gough-Stewart platform; singularity-free total orientation workspace;

D O I：

10.1115/1.3147200

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The maximal singularity-free total orientation workspace is highly desirable in a context of design of parallel robots. In practice, this type of workspace is interesting because a parallel robot often works in a given range of orientations. In this work, an algorithm is presented to compute the maximal singularity-free total orientation workspace of the Gough-Stewart platform. In order to demonstrate the presented algorithm, an example is provided. [DOI: 10.1115/1.3147200]

引用

页码：1 / 4

页数：4

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