Skip to main content
SpringerLink
Log in

Closed Form Solution to the Orientation Workspace of Stewart Parallel Manipulators

  • Conference paper
Parallel Kinematic Machines

Part of the book series: Advanced Manufacturing ((ADVMANUF))

  • 1033 Accesses

Abstract

A novel methodology to formulate the closed form solution to the orientation workspace of Stewart parallel manipulators is presented in this paper. A factitious four bar spatial linkage model having two degrees of freedom is employed to formulate the closed solution to the orientation workspace boundary. In this model, all the mechanical constraints are considered which include the strut length and the passive joint limitations. Several examples are given to illustrate the effectiveness of this approach.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 84.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Jo D Y 1989 Workspace Analysis of Closed Loop Mechanisms with Unilateral Constraints. ASME Design Engineering Division Publication, Advance in Design Automation 3: 53–60

    Google Scholar 

  2. Gosselin C 1990 Determination of the Workspace of 6-DOF Parallel Manipulators. ASME J of Mechanical Design 112(3):331 -336

    Article  Google Scholar 

  3. Agrawal S K 1992 Workspace Boundaries of In-Parallel Manipulator Systems. Int J of Robotic and Automation 7 (2): 94–99

    Google Scholar 

  4. Ji Z 1994 Workspace Analysis of Stewart Platforms via Vertex Space. ASME J of Mechanical Design 116 (7): 631–638

    Google Scholar 

  5. Merlet J P 1995 Determination of the Orientation Workspace of Parallel Manipulators. Journal of Intelligent and Robotic Systems 13: 143–160

    Article  Google Scholar 

  6. Ferraresi C, Montacchini G, Sorli M 1995 Workspace and Dexterity Evaluation of a 6DOF Spactial Mechanisms. In: Proceedings of the 9th World Congress on Theory of Machines and Mechanisms, pp 57-61

    Google Scholar 

  7. Luh C M et al 1996 Working Capability Analysis of Stewart Platform. ASME J of Mechanical Design 118(2): 221–227

    Google Scholar 

  8. Huang T, Wang J S, Whitehouse D J 1998 Closed Form Solution to the Position Workspace of Stewart Parallel Manipulators. Science in China (Series E) 28 (2): 168–177

    Google Scholar 

  9. Huang T, Wang J S, Yuan J X 1998 Determination of Closed Form Solution to the Workspace of Stewart Parallel Manipulators. In: ASME Proceedings of the 25th Biennial Mechanisms Conference, Paper: DETC98/MECH-6G01, Atlanta

    Google Scholar 

  10. Huang T, Whitehouse D J, Wang J S 1998 Local Dexterity, Optimal Architecture and Design Criteria of Parallel Machine Tools. CIRP Annals 47 (1): 347–351

    Google Scholar 

  11. Romdhane L 1994 Orientation Workspace of Fully Parallel Mechanism. Eur J of Mechanics 13 (4): 541–553

    MATH  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Tianjin University, Tianjin, 300072, China

    T. Huang

  2. School of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    J. S. Wang

  3. Departement de Genie Mecanique, Universite Laval, Quebec, G1K 7P4, Canada

    C. M. Gosselin

  4. School of Engineering, University of Warwick, Coventry, CV4 7AL, UK

    D. J. Whitehouse

Authors
  1. T. Huang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. J. S. Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. C. M. Gosselin
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. D. J. Whitehouse
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. ITIA-CNR, Viale Lombardia 20/a, I-20131, Milano, Italy

    C. R. Boër MAS, PhD (Prof., Dr. Eng.) & L. Molinari-Tosatti PhD (Dr. Eng.,) (Prof., Dr. Eng.) &  (Dr. Eng.,)

  2. Department of Mechanical Engineering and Engineering Science, University of North Carolina at Charlotte, 9201, University City Blvd., Charlotte, NC, 28223-0001, USA

    K. S. Smith (Professor) (Professor)

Rights and permissions

Reprints and permissions

Copyright information

© 1999 Springer-Verlag London Limited

About this paper

Cite this paper

Huang, T., Wang, J.S., Gosselin, C.M., Whitehouse, D.J. (1999). Closed Form Solution to the Orientation Workspace of Stewart Parallel Manipulators. In: Boër, C.R., Molinari-Tosatti, L., Smith, K.S. (eds) Parallel Kinematic Machines. Advanced Manufacturing. Springer, London. https://doi.org/10.1007/978-1-4471-0885-6_6

Download citation

  • DOI: https://doi.org/10.1007/978-1-4471-0885-6_6

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-1228-0

  • Online ISBN: 978-1-4471-0885-6

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation