کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
803046 | 1467757 | 2014 | 11 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: Compatible reachable workspaces of symmetrical Stewart–Gough parallel manipulators Compatible reachable workspaces of symmetrical Stewart–Gough parallel manipulators](/preview/png/803046.png)
• Analytical methods to develop a compatible reachable workspace are presented.
• Characteristics of workspace boundaries are investigated.
• The equations for the whole workspace can be easily determined.
• The workspace can be developed within 10 min.
The reachable workspace of a 6-DOF parallel manipulator developed using most existing methods is not a compatible workspace, as some of its subspaces might not be reachable through a continuous motion starting from the initial assembly configuration. This paper uses simple geometric properties and some characteristics of workspace boundaries to develop a compatible reachable workspace for a symmetrical Stewart–Gough manipulator. Equations that generate the entire workspace boundary can be easily determined by solving direct kinematics at five specific points, and the compatible workspace of a symmetrical manipulator can be developed within 10 min using a personal computer.
Journal: Mechanism and Machine Theory - Volume 77, July 2014, Pages 111–121