Determination of the maximal singularity-free orientation workspace for the Gough-Stewart platform

DOI10.1016/J.MECHMACHTHEORY.2008.07.005zbMath1178.70034OpenAlexW1992042563MaRDI QIDQ1032198

Clément M. Gosselin, Qimi Jiang

Publication date: 26 October 2009

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2008.07.005

zbMATH Keywords

Gough-Stewart platformmaximal singularity-free orientation workspaceroll-pitch-Yaw anglesworkspace surface

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Related Items (2)

Stewart Gough platforms with non-cubic singularity surface ⋮ A novel method for singularity analysis of the 6-SPS parallel mechanisms

Cites Work

• Unnamed Item
• Determination of the maximal singularity-free zones in the six-dimensional workspace of the general Gough--Stewart platform
• The quartic singularity surfaces of planar platforms in the Clifford algebra of the projective plane.
• Comparison of an exact and an approximate method of singularity avoidance in platform type parallel manipulators.
• Variational approach for singularity-free path-planning of parallel manipulators.
• A new approach to orientation workspace analysis of 6-DOF parallel manipulators

This page was built for publication: Determination of the maximal singularity-free orientation workspace for the Gough-Stewart platform