Determining the compatible orientation workspace of Stewart–Gough parallel manipulators

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.