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Determination of closed form solution to the 2-D orientation workspace of Gough-Stewart parallel manipulators

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4 Author(s)
T. Huang ; Sch. of Mech. Eng., Tianjin Univ., China ; J. Wang ; C. M. Gosselin ; D. Whitehouse

A novel methodology to formulate the closed form solution to the orientation workspace of Gough-Stewart parallel manipulators is presented by using a fictitious four-bar spatial linkage model. The possible mechanical constraints are considered which include the strut length and the passive joint limitations. Several examples are given to illustrate the effectiveness of this approach

Published in:

IEEE Transactions on Robotics and Automation  (Volume:15 ,  Issue: 6 )