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Determining the workspace boundary of 6-DOF parallel manipulators

Published online by Cambridge University Press:  28 February 2006

K. Y. Tsai ,
T. K. Lee  and
K. D. Huang
K. Y. Tsai
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei (Taiwan) 10672. E-mail: kytsai@mail.ntust.edu.tw
T. K. Lee
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei (Taiwan) 10672. E-mail: kytsai@mail.ntust.edu.tw
K. D. Huang
Affiliation:
Department of Mechanical Engineering, Northern Taiwan Institute of Science and Technology, Taipei (Taiwan).
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Abstract

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The workspace boundary of 6-DOF parallel manipulators is a two-dimensional surface consisting of many patches that can be obtained by solving different sets of four constraint equations. This paper proposes algorithms for finding the equations to generate each patch of the boundary. Methods involving a searching technique are first developed to generate some small subsets of the boundary. The obtained data are then used to predict the equations for generating the rest of the boundary.

Keywords

Reachable workspace6-DOF parallel manipulatorLink interaction
Type
Article
Information
Robotica , Volume 24 , Issue 5 , September 2006 , pp. 605 - 611
Copyright
2006 Cambridge University Press