The maximal singularity-free workspace of parallel mechanisms is a desirable criterion in robot design. However, for a 6DOF parallel mechanism, it is very difficult to find an analytic method to determine the maximal singularity-free workspace around a prescribed point for a given orientation. Hence, a numerical algorithm is presented in this paper to compute the maximal singularity-free workspace as well as the corresponding leg length ranges of the Gough–Stewart platform. This algorithm is based on the relationship between the maximal singularity-free workspace and the singularity surface. Case studies with different orientations are performed to demonstrate the presented algorithm. The obtained results can be applied to the geometric design or parameter (leg length) setup of this type of parallel robots.
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e-mail: qimi_j@yahoo.com
e-mail: gosselin@gmc.ulaval.ca
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November 2008
Research Papers
The Maximal Singularity-Free Workspace of the Gough–Stewart Platform for a Given Orientation
Qimi Jiang,
Qimi Jiang
Department of Mechanical Engineering,
e-mail: qimi_j@yahoo.com
Laval University
, Quebec, QC, G1V 0A6, Canada
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Clément M. Gosselin
Clément M. Gosselin
Department of Mechanical Engineering,
e-mail: gosselin@gmc.ulaval.ca
Laval University
, Quebec, QC, G1V 0A6, Canada
Search for other works by this author on:
Qimi Jiang
Department of Mechanical Engineering,
Laval University
, Quebec, QC, G1V 0A6, Canadae-mail: qimi_j@yahoo.com
Clément M. Gosselin
Department of Mechanical Engineering,
Laval University
, Quebec, QC, G1V 0A6, Canadae-mail: gosselin@gmc.ulaval.ca
J. Mech. Des. Nov 2008, 130(11): 112304 (8 pages)
Published Online: September 23, 2008
Article history
Received:
September 13, 2007
Revised:
May 27, 2008
Published:
September 23, 2008
Citation
Jiang, Q., and Gosselin, C. M. (September 23, 2008). "The Maximal Singularity-Free Workspace of the Gough–Stewart Platform for a Given Orientation." ASME. J. Mech. Des. November 2008; 130(11): 112304. https://doi.org/10.1115/1.2976452
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