Hostname: page-component-cd9895bd7-dzt6s Total loading time: 0 Render date: 2024-12-24T02:56:59.315Z Has data issue: false hasContentIssue false
  • English
  • Français

Six-DOF parallel manipulators with maximal singularity-free joint space or workspace

Published online by Cambridge University Press:  07 August 2013

K. Y. Tsai ,
J. C. Lin  and
Yiting Lo
K. Y. Tsai*
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei, Taiwan 10672, Republic of China
J. C. Lin
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei, Taiwan 10672, Republic of China
Yiting Lo
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei, Taiwan 10672, Republic of China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

Singularity-free workspace is a very important criterion for the design of manipulators, especially for parallel manipulators which are well known for their limited workspace and complex singularities. This paper studies geometric parameters and dexterity measures that affect the size of a singularity-free joint space and proposes methods for the development of 6-DOF Stewart–Gough parallel manipulators that have better singularity-free joint space. With a local dexterity measure as the objective function, a systematic method is employed to search for the design with a maximal singularity-free joint space. The related workspaces are also investigated. It is shown that the workspace is not proportional to the size of the joint space and that manipulators with a larger singularity-free workspace usually have relatively poor dexterity.

Keywords

6-DOF parallel manipulatorsMaximalSingularityJoint spaceOrientationWorkspace
Type
Articles
Information
Robotica , Volume 32 , Issue 3 , May 2014 , pp. 401 - 411
Copyright
Copyright © Cambridge University Press 2013 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Merlet, J. P., “Determination of 6D workspaces of Gough-type parallel manipulator and comparison between different geometries,” Int. J. Robot. Res. 18 (9), 902–916 (1999).CrossRefGoogle Scholar
2.Luh, C. M., Adkins, F. A., Haug, E. J. and Qiu, C. C., “Working capability analysis of Stewart platforms,” Trans. ASME J. Mech. Des. 118 (2), 220–227 (1996).CrossRefGoogle Scholar
3.Majid, M. Z. A., Huang, Z. and Yao, Y. L., “Workspace analysis of a six-degrees of freedom, three-prismatic-prismatic-spheric-revolute parallel manipulator,” Int. J. Adv. Manuf. Technol. 16 (6), 441–449 (2000).Google Scholar
4.Masory, O. and Wang, J., “Workspace evaluation of Stewart platform,” Adv. Robot. 9 (4), 443–461 (1995).CrossRefGoogle Scholar
5.Gosselin, C., “Determination of the workspace of 6-DOF parallel manipulators,” ASME J. Mech. Des. 112 (3), 331–336 (1990).Google Scholar
6.Bonev, I. A. and Ryu, J., “A geometrical method for computing the constant-orientation workspace of 6-PRRS parallel manipulators,” Mech. Mach. Theory 36 (1), 1–13 (2001).Google Scholar
7.Merlet, J. P., “Determination of the orientation workspaces of parallel manipulator,” J. Intell. Robot. Syst. 13, 143–160 (1995).CrossRefGoogle Scholar
8.Bonev, I. A. and Ryu, J., “A new approach to orientation workspace analysis of 6-DOF parallel manipulators,” Mech. Mach. Theory 36 (1), 15–28 (2001).CrossRefGoogle Scholar
9.Merlet, J. P., “Designing a parallel manipulator for a specific workspace,” Int. J. Robot. Res. 16 (4), 545–556 (1997).Google Scholar
10.Hay, A. M. and Snyman, J. A., “Methodologies for the optimal design of parallel manipulators,” Int. J. Numer. Meth. Eng. 59 (3), 131–152 (2004).Google Scholar
11.Cao, Y., Ji, W., Li, Z., Zhou, H. and Liu, M., “Orientation-Singularity and Nonsingular Orientation-Workspace Analyses of the Stewart–Gough Platform Using Unit Quaternion Representation,” In: IEEE Chinese Control and Decision Conference, Xuzhou (2010) pp. 2282–2287.Google Scholar
12.Jiang, Q. and Gosselin, C. M., “Determination of the maximal singularity-free orientation workspace for the Gough–Stewart platform,” Mech. Mach. Theory 44 (6), 1281–1293 (2009).Google Scholar
13.Jiang, Q. and Gosselin, C. M., “Maximal singularity-free total orientation workspace of the Gough–Stewart platform,” ASME J. Mech. Robot. 1, 034501.1–4 (2009).Google Scholar
14.Li, H., Gosselin, C. M. and Richard, M. J., “Determination of the maximal singularity-free zones in the six-dimensional workspace of the general Gough–Stewart platform,” Mech. Mach. Theory 42 (4), 497–511 (2007).CrossRefGoogle Scholar
15.Jiang, Q. and Gosselin, C. M., “Geometric optimization of the MSSM Gough–Stewart platform,” ASME J. Mech. Robot. 1, 031006.1–8 (2009).Google Scholar
16.Tsai, K. Y., Jang, Y. S. and Lee, T. K., “A new class of isotropic generators for developing 6-DOF isotropic manipulators,” Robotica 26 (5), 619–625 (2008).Google Scholar
17.Tsai, K. Y. and Lin, J. C., “Determining the compatible orientation workspace of Stewart–Gough parallel manipulators,” Mech. Mach. Theory 41 (10), 1168–1184 (2006).CrossRefGoogle Scholar
18.Tsai, K. Y., Lee, T. K. and Huang, K. D., “Determining the workspace boundary of 6-DOF parallel manipulators,” Robotica 24 (5), 605–611 (2006).Google Scholar
19.Tsai, K. Y. and Lee, T. K., “6-DOF parallel manipulators with better dexterity, rotatability, or singularity-free workspace,” Robotica 27 (4), 599–606 (2009).Google Scholar