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
相关论文
共 50 条
  • [41] DETERMINATION OF THE ORIENTATION WORKSPACE OF PARALLEL MANIPULATORS
    MERLET, JP
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 1995, 13 (02) : 143 - 160
  • [42] Geometric Isotropy Indices for Workspace Analysis of Spatial Parallel Manipulators
    Xiong, Hao
    Diao, Xiumin
    2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE ROBIO 2017), 2017, : 1985 - 1990
  • [43] Workspace analysis of positioning discontinuities due to clearances in parallel manipulators
    Altuzarra, Oscar
    Aginaga, Jokin
    Hernandez, Alfonso
    Zabalza, Isidro
    MECHANISM AND MACHINE THEORY, 2011, 46 (05) : 577 - 592
  • [44] A differential geometry approach for the workspace analysis of spherical parallel manipulators
    Yang, GL
    Ho, EHL
    Lin, W
    Chen, IM
    ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS, 2004, : 2060 - 2065
  • [45] Dynamic isotropic design of a class of Gough-Stewart parallel manipulators lying on a circular hyperboloid of one sheet
    Jiang Hong-zhou
    Tong Zhi-zhong
    He Jing-feng
    MECHANISM AND MACHINE THEORY, 2011, 46 (03) : 358 - 374
  • [46] Singularity Representation and Workspace Determination of a Special Class of the Gough-Stewart Platforms
    Li, Baokun
    Cao, Yi
    Zhang, Qiuju
    Wang, Chuanli
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2013, 10
  • [47] Dexterous workspace optimization of an asymmetric six-degree of freedom Stewart-Gough platform type manipulator
    Toz, Metin
    Kucuk, Serdar
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2013, 61 (12) : 1516 - 1528
  • [48] Property identification of the singularity loci of a class of Gough-Stewart manipulators
    Huang, Z
    Cao, Y
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2005, 24 (08): : 675 - 685
  • [49] Universal workspace characteristics of Gough-Stewart platform and its analytic solution
    National Astronomical Observatories, Chinese Academy of Sciences, Beijing 100012, China
    不详
    Guangxue Jingmi Gongcheng, 2008, 2 (257-264): : 257 - 264
  • [50] A New Class of Locally Decoupled Gough-Stewart Platform Manipulators
    Allais, Anthony A.
    McInroy, John E.
    O'Brien, John F.
    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2012, : 1561 - 1566
12345