0
Research Papers: Mechanisms and Robotics

The Maximal Singularity-Free Workspace of the Gough–Stewart Platform for a Given Orientation

[+] Author and Article Information
Qimi Jiang

Department of Mechanical Engineering, Laval University, Quebec, QC, G1V 0A6, Canadaqimi_j@yahoo.com

Clément M. Gosselin

Department of Mechanical Engineering, Laval University, Quebec, QC, G1V 0A6, Canadagosselin@gmc.ulaval.ca

J. Mech. Des 130(11), 112304 (Sep 23, 2008) (8 pages) doi:10.1115/1.2976452 History: Received September 13, 2007; Revised May 27, 2008; Published September 23, 2008

The maximal singularity-free workspace of parallel mechanisms is a desirable criterion in robot design. However, for a 6DOF parallel mechanism, it is very difficult to find an analytic method to determine the maximal singularity-free workspace around a prescribed point for a given orientation. Hence, a numerical algorithm is presented in this paper to compute the maximal singularity-free workspace as well as the corresponding leg length ranges of the Gough–Stewart platform. This algorithm is based on the relationship between the maximal singularity-free workspace and the singularity surface. Case studies with different orientations are performed to demonstrate the presented algorithm. The obtained results can be applied to the geometric design or parameter (leg length) setup of this type of parallel robots.

FIGURES IN THIS ARTICLE
<>
Copyright © 2008 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

The maximal singularity-free workspace (solid) and the maximal singularity-free sphere (dashed) around P0(0,234∕3,1.25) at the reference orientation with ϕ=θ=ψ=0 deg

Grahic Jump Location
Figure 2

The maximal singularity-free workspace around P0(0,234∕3,1.25) for a given orientation with ϕ=30 deg, θ=45 deg, and ψ=0 deg

Grahic Jump Location
Figure 3

The MSSM architecture (top view)

Grahic Jump Location
Figure 4

Workspace around a prescribed point P0

Grahic Jump Location
Figure 5

The maximal singularity-free workspace around P0(0,234∕3,54) for a given orientation with ϕ=θ=ψ=0 deg

Grahic Jump Location
Figure 6

The singularity surface for a given orientation with ϕ=30 deg, θ=45 deg, and ψ=0 deg

Grahic Jump Location
Figure 7

Coordinate transformation

Grahic Jump Location
Figure 8

Procedure for determining the maximal singularity-free workspace

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In