Workspace analysis of Stewart-Gough-type parallel manipulators

被引：43
|
作者：
Pernkopf, F. [1 ]
Husty, M. L. [1 ]
机构：
[1] Univ Innsbruck, Inst Engn Math Geometry & Comp Sci, Evanston, IL 60201 USA
来源：
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2006年 / 220卷 / 07期
关键词：
singularities; workspace constraints; joint limits; position workspace; orientation workspace; isotropy; reachable workspace; envelope of moved body;
D O I：
10.1243/09544062JMES194
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper, for the first time, a complete analysis of the reachable workspace of a spatial Stewart-Gough platform with planar base and platform (SGPP) is presented. The devised workspace algorithms are applied to a commercial 6-6 design. Major importance is given to the visualization of the results of this workspace analysis to provide fast information to the designer on the overall kinematic behaviour of the designed mechanism. Furthermore, it is shown that the reachable workspace also gives the necessary information on how to construct a building enclosing all motion instances of an actual hexapod design.
引用
收藏
页码：1019 / 1032
页数：14
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