The evaluation and representation of the orientation workspace of robotic manipulators is a challenging task. This work focuses on the determination of the theoretical orientation workspace of the Gough–Stewart platform with given leg length ranges . By use of the roll-pitch-yaw angles , the theoretical orientation workspace at a prescribed position can be defined by up to 12 workspace surfaces. The defined orientation workspace is a closed region in the 3D orientation Cartesian space . As all rotations , , and take place with respect to the fixed frame, any point of the defined orientation workspace provides a clear measure for the platform to, respectively, rotate in order around the axes of the fixed frame. An algorithm is presented to compute the size (volume) of the theoretical orientation workspace and intersectional curves of the workspace surfaces. The defined theoretical orientation workspace can be applied to determine a singularity-free orientation workspace.
Skip Nav Destination
e-mail: qimi_j@yahoo.com
e-mail: gosselin@gmc.ulaval.ca
Article navigation
Research Papers
Evaluation and Representation of the Theoretical Orientation Workspace of the Gough–Stewart Platform
Qimi Jiang,
Qimi Jiang
Department of Mechanical Engineering,
e-mail: qimi_j@yahoo.com
Laval University
, Quebec, QC, G1V 0A6, Canada
Search for other works by this author on:
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. Mechanisms Robotics. May 2009, 1(2): 021004 (9 pages)
Published Online: January 6, 2009
Article history
Received:
April 1, 2008
Revised:
September 30, 2008
Published:
January 6, 2009
Citation
Jiang, Q., and Gosselin, C. M. (January 6, 2009). "Evaluation and Representation of the Theoretical Orientation Workspace of the Gough–Stewart Platform." ASME. J. Mechanisms Robotics. May 2009; 1(2): 021004. https://doi.org/10.1115/1.3046137
Download citation file:
Get Email Alerts
Learning-Based Position and Orientation Control of a Hybrid Rigid-Soft Arm Manipulator
J. Mechanisms Robotics
Design of Reconfigurable Articulated Walking Mechanisms for Diverse Motion Behaviors
J. Mechanisms Robotics
Error propagation analysis of kinematic quantities for robots and mechanisms
J. Mechanisms Robotics
Related Articles
Analytic Form Solution of the Direct Position Analysis of a Wide Family of Three-Legged Parallel Manipulators
J. Mech. Des (January,2006)
An Approach to Identify Joint Motions for Dynamically Stable Walking
J. Mech. Des (May,2006)
An Interval-Based Method for Workspace Analysis of Planar Flexure-Jointed Mechanism
J. Mech. Des (January,2009)
Search for Initial Conditions for Sustained Hopping of Passive Springy-Leg Offset-Mass Hopping Robot
J. Dyn. Sys., Meas., Control (July,2007)
Related Chapters
Feedback-Aided Minimum Joint Motion
Robot Manipulator Redundancy Resolution
Manipulability-Maximizing SMP Scheme
Robot Manipulator Redundancy Resolution
QP-Based Self-Motion Planning
Robot Manipulator Redundancy Resolution