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...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:International journal for numerical methods in engineering Jg. 52; H. 4; S. 345 - 369
Hauptverfasser: du Plessis, L. J., Snyman, J. A.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Chichester, UK John Wiley & Sons, Ltd 10.10.2001
Schlagworte:
accessible workspace
dexterity
dextrous workspace
fixed orientation workspace
Gough-Stewart platform
optimization
parallel manipulator
ISSN:0029-5981, 1097-0207
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung: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.
Bibliographie:ark:/67375/WNG-BWVKTF18-J
ArticleID:NME174
istex:D193C413FF2E0FD0F1C3A7FD4110ACFB85636018
Professor
ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0029-5981
1097-0207
DOI:10.1002/nme.174