Trabajo presentado al 35th Mechanisms and Robotics Conference celebrado en Washington del 28 al 31 de agosto de 2011. ; The workspace of a Stewart platform is a complex six-dimensional volume embedded in the Cartesian space defined by six pose parameters. Because of its large dimension and complex shape, such workspace is difficult to compute and represent, so that comprehension on its structure is being gained by studying its three-dimensional slices. While successful methods have been given to determine the constant-orientation slice, the computation and appropriate visualization of the constant-position slice (also known as the orientation workspace) has proved to be a challenging task. This paper presents a unified method for computing both of such slices, and any other ones defined by fixing three pose parameters, on general Stewart platforms involving mechanical limits on the active and passive joints. Additional advantages over previous methods include the ability to determine all connected components of the workspace, and any motion barriers present in its interior. ; This work has been partially supported by the Spanish Ministry of Science and Innovation under contract DPI2010-18449, and by a Juan de la Cierva contract supporting the third author. ; Peer Reviewed
A unified method for computing position and orientation workspaces of general Stewart platforms
2011-01-01
Conference paper
Electronic Resource
English
DDC: | 629 |
A unified method for computing position and orientation workspaces of general Stewart platforms
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