Orientation-Singularity and Nonsingular Orientation-Workspace Analysis of the Semi-Regular Stewart–Gough Platform Manipulator

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Abstract:

This paper addresses the orientation-singularity analysis and the nonsingular orientation-workspace computation of the semi-regular Stewart–Gough platform manipulator (SRSGPM). Based on the half-angle transformation, a polynomial expression that represents the orientation-singularity locus of the SRSGPM when the mobile platform of the platform manipulator is fixed to a constant position is derived. It is shown that the orientation-singularity locus of the SRSGPM at a fixed position is a polynomial expression of degree 13 in the mobile platform orientation parameters and graphical representations of the orientation-singularity locus of the SRSGPM are illustrated with examples to demonstrate the theoretical result. Using this half-angle transformation, a new discretization method is proposed for computing the nonsingular orientation-workspace of the SRSGPM in consideration of singularities, limitations of active and passive joints, and link interference. Examples of a SRSGPM are given to demonstrate the results.

Keywords: HALF-ANGLE TRANSFORMATION; NONSINGULAR ORIENTATION VOID; NONSINGULAR ORIENTATION-WORKSPACE; ORIENTATION-SINGULARITY; STEWART-GOUGH PLATFORM MANIPULATOR

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/016918610X534286

Affiliations: 1: Huiguang Robotics Research Center, School of Mechanical Engineering, Jiangnan University, 1800 Lihu Avenue, Wuxi, Jiangsu Province 214122, P. R. China 2: Robotics Research Center, Yanshan University, Qinhuangdao, Hebei Province 066004, P. R. China

Publication date: November 1, 2010

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