The article considers the problem of analyzing the influence of singularities on the forward kinematics of the 3/6 Gough - Stewart platform. A numerical algorithm for solving the forward kinematics of platform based on deterministic optimization methods and interval analysis has been developed. An analysis of the change in the number of forward kinematics solutions near the singularity is performed. An algorithm has been synthesized that makes it possible to determine a singularity-free workspace for given ranges of change in platform orientation angles. An analysis of the change in the volume of the workspace depending on the range of change in the angles of the platform orientation was carried out. The simulation was performed using parallel computing and the procedure for exporting 3D models of the platform positions and workspace to the STL model. The results of mathematical modeling are presented.


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    Titel :

    Analysis of the Singularities Influence on the Forward Kinematics Solution and the Geometry of the Workspace of the Gough-Stewart Platform


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Müller, Andreas (Herausgeber:in) / Brandstötter, Mathias (Herausgeber:in) / Malyshev, D. I. (Autor:in) / Rybak, L. A. (Autor:in) / Pisarenko, A. S. (Autor:in) / Cherkasov, V. V. (Autor:in)

    Kongress:

    International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022



    Erscheinungsdatum :

    23.04.2022


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch