Determining the compatible orientation workspace of Stewart-Gough parallel manipulators

被引：28
|
作者：
Tsai, K. Y. [1 ]
Lin, J. C. [1 ]
机构：
[1] Natl Taiwan Univ Sci & Technol, Dept Mech Engn, Taipei 10672, Taiwan
来源：
MECHANISM AND MACHINE THEORY | 2006年 / 41卷 / 10期
关键词：
parallel manipulators; orientation; workspace; compatible;
D O I：
10.1016/j.mechmachtheory.2005.12.002
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents algorithms for determining the compatible orientation workspace of 6-DOF parallel manipulators. The orientation workspace is developed through boundary curves on two-dimensional cross-sections. A boundary curve on any section consists of many segments, and each segment can be generated by solving only one constraint equation related to limited joint ranges or link interactions. Methods for predicting possible constraint equations for the boundary curves of neighboring sections are proposed to facilitate the evaluation process. (C) 2006 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1168 / 1184
页数：17
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