Title :
Determination of closed form solution to the 2-D orientation workspace of Gough-Stewart parallel manipulators
Author :
Huang, Tian ; Wang, Jinsong ; Gosselin, Clement M. ; Whitehouse, David
Author_Institution :
Sch. of Mech. Eng., Tianjin Univ., China
fDate :
12/1/1999 12:00:00 AM
Abstract :
A novel methodology to formulate the closed form solution to the orientation workspace of Gough-Stewart parallel manipulators is presented by using a fictitious four-bar spatial linkage model. The possible mechanical constraints are considered which include the strut length and the passive joint limitations. Several examples are given to illustrate the effectiveness of this approach
Keywords :
differential geometry; manipulator kinematics; spatial variables control; Gough-Stewart platform; closed form solution; differential geometry; kinematic chains; mechanical constraints; orientation workspace; parallel manipulators; spatial linkage model; Closed-form solution; Couplings; Geometry; Manipulators; Mathematical model; Mechanical engineering;
Journal_Title :
Robotics and Automation, IEEE Transactions on
