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Technical Briefs

Maximal Singularity-Free Total Orientation Workspace of the Gough–Stewart Platform

[+] Author and Article Information
Qimi Jiang

Department of Mechanical Engineering, Laval University, Quebec, QC, G1V 0A6 Canadaqimi_j@yahoo.com

Clément M. Gosselin

Department of Mechanical Engineering, Laval University, Quebec, QC, G1V 0A6 Canadagosselin@gmc.ulaval.ca

J. Mechanisms Robotics 1(3), 034501 (Jul 14, 2009) (4 pages) doi:10.1115/1.3147200 History: Received March 12, 2008; Revised November 25, 2008; Published July 14, 2009

The maximal singularity-free total orientation workspace is highly desirable in a context of design of parallel robots. In practice, this type of workspace is interesting because a parallel robot often works in a given range of orientations. In this work, an algorithm is presented to compute the maximal singularity-free total orientation workspace of the Gough–Stewart platform. In order to demonstrate the presented algorithm, an example is provided.

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Copyright © 2009 by American Society of Mechanical Engineers
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Figure 1

The MSSM architecture (top view)

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Figure 2

The maximal singularity-free workspaces in eight basic orientations and their intersection: (a) ϕ=−15 deg, θ=−15 deg, ψ=−15 deg, (b) ϕ=−15 deg, θ=−15 deg, ψ=15 deg, (c) ϕ=−15 deg, θ=15 deg, ψ=−15 deg, (d) ϕ=−15 deg, θ=15 deg, ψ=15 deg, (e) ϕ=15 deg, θ=−15 deg, ψ=−15 deg, (f) ϕ=15 deg, θ=−15 deg, ψ=15 deg, (g) ϕ=15 deg, θ=15 deg, ψ=−15 deg, (h) ϕ=15 deg, θ=15 deg, ψ=15 deg, and (i) intersection of (a)–(h)

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Figure 3

Volume V as a function of N

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