Orientationability and Practical Orientationability Analysis of a Special Class of the Stewart-Gough Parallel Manipulators
会议名称：《2010 Chinese Control and Decision Conference》
会议日期：2010年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
关 键 词：Orientationability Practical Orientationability Parallel Manipulator
摘 要：正This paper mainly addresses the orientation-singularity and orientationability analyses of a special class of the Stewart-Gough parallel *** on the half-angle transformation,an analytical polynomial expression of thirteen degree in the moving platform orientation parameters is derived,which represents the orientation-singularity locus of this class of the manipulator at a given position,graphical representations of the orientation-singularity locus of the manipulator are given to illustrate the *** is shown that for this special class of the Stewart-Gough manipulators, it must exist a nonsingular orientation void in the orientation space around the orientation origin for each position in the *** a new performance index which describes the orientationability of the parallel manipulator at a given position is ***,effects of the design parameters of the moving platform on the orientationability of the manipulator are also presented in detailed in this *** on the research on the orientation-singularity and nonsingular orientation void of the manipulator,another novel performance index representing the practical orientationability of this special class of the manipulator at a given position in the position-workspace is introduced,where singularities,the limitations of active and passive joints and the link interference are all taken into ***,the practical orientationability of this special class of the Stewart-Gough parallel manipulators is also analyzed at length over the whole position-workspace of the manipulator.