DocumentCode
1292028
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
Volume
15
Issue
6
fYear
1999
fDate
12/1/1999 12:00:00 AM
Firstpage
1121
Lastpage
1125
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;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.817675
Filename
817675
Link To Document