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
收藏
页码：1 / 4
页数：4
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