The proper motion domain for the actuators of Stewart-Gough platform

This paper presents a novel method for the kinematic optimization of Stewart-Gough platform. A proper motion domain should satisfy three kinds of requirements: realization of direct motion target, singularity-free kinematics and uniqueness of direct kinematics solution. The rationality of these requirements is proved then. After present a group of combined constraints for motion domain optimization, an engineering optimization method is used finally on a Stewart mechanism to obtain a proper motion domain for the actuators.