Determination of closed form solution to the 2-D-orientation workspace of Gough-Stewart parallel manipulators

Authors
Huang, TA Wang, JS Gosselin, CM Whitehouse, D
Citation
Ta. Huang et al., Determination of closed form solution to the 2-D-orientation workspace of Gough-Stewart parallel manipulators, IEEE ROBOT, 15(6), 1999, pp. 1121-1125
Citations number
20
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
ISSN journal
1042296X → ACNP
Volume
15
Issue
6
Year of publication
1999
Pages
1121 - 1125
Database
ISI
SICI code
1042-296X(199912)15:6<1121:DOCFST>2.0.ZU;2-1
Abstract
A novel methodology to formulate the closed form solution to the orientatio n workspace of Gough-Stewart parallel manipulators is presented by using a fictitious four-bar spatial linkage model. The possible mechanical constrai nts are considered which include the strut length and the passive joint lim itations. Several examples are given to illustrate the effectiveness of thi s approach.