A numerical method for the determination of dextrous workspaces of Gough-Stewart platforms

An optimization approach to the computation of the boundaries of different dextrous workspaces of parallel manipulators is presented. A specific dextrous workspace is the region in space in which, at each position of the working point, a manipulator can control the orientation of its upper working p...

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Vydané v:International journal for numerical methods in engineering Ročník 52; číslo 4; s. 345 - 369
Hlavní autori: du Plessis, L. J., Snyman, J. A.
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Chichester, UK John Wiley & Sons, Ltd 10.10.2001
Predmet:
accessible workspace
dexterity
dextrous workspace
fixed orientation workspace
Gough-Stewart platform
optimization
parallel manipulator
ISSN:0029-5981, 1097-0207
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Shrnutí:An optimization approach to the computation of the boundaries of different dextrous workspaces of parallel manipulators is presented. A specific dextrous workspace is the region in space in which, at each position of the working point, a manipulator can control the orientation of its upper working platform through a specified range of orientation angles. Here the dextrous workspace is determined from the intersection of suitably chosen fixed orientation workspaces, which are found by application of a constrained optimization algorithm. The procedure is simple and has the considerable advantage that it may easily be automated. The method is illustrated by its application to both a planar and spatial Gough–Stewart platform. Copyright © 2001 John Wiley & Sons, Ltd.
Bibliografia:ark:/67375/WNG-BWVKTF18-J
ArticleID:NME174
istex:D193C413FF2E0FD0F1C3A7FD4110ACFB85636018
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ObjectType-Article-2
SourceType-Scholarly Journals-1
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content type line 23
ISSN:0029-5981
1097-0207
DOI:10.1002/nme.174