Name
Title | ||
|---|---|---|
Maximal singularity-free orientation workspace over a position region of Gough–Stewart platform |
Abstract | ||
|---|---|---|
Maximizing the singularity-free workspace of parallel manipulators is highly desirable in a context of robot design. So far, no work has been found to address the maximal singularity-free orientation workspace over a position region. In practice, this type of workspace is interesting because a mechanism often works in a range of positions. This work focuses on the Gough-Stewart platform. An optimal position at which the mechanism holds the maximal singularity-free orientation workspace is determined. This optimal position lies on the line which is perpendicular to the base and passes the centroid of the base. Considering the symmetry, a parallelepiped with centre at the determined optimal position could be an interesting working position region for the Gough-Stewart platform. Two algorithms are presented to compute the maximal singularity-free orientation workspace over such an interesting position region. An example is provided for demonstration. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1080/01691864.2015.1067644 | ADVANCED ROBOTICS |
Keywords | Field | DocType |
Gough-Stewart platform,singularity-free orientation workspace,position region | Perpendicular,Control theory,Workspace,Robot design,Singularity,Engineering,Stewart platform,Centroid,Parallelepiped | Journal |
Volume | Issue | ISSN |
29 | 22 | 0169-1864 |
Citations | PageRank | References |
0 | 0.34 | 7 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Qimi Jiang | 1 | 16 | 1.50 |
| Clément M. Gosselin | 2 | 271 | 31.88 |
| Yujun Wang | 3 | 48 | 10.48 |
| Can Fang | 4 | 0 | 0.34 |