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Browse Journals & Magazines > Robotics and Automation, IEEE ...> Volume:15 Issue:6 Help

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

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

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

Date of Publication: Dec 1999

Page(s):
1121 - 1125
ISSN :
1042-296X
INSPEC Accession Number:
6510551
Digital Object Identifier :
10.1109/70.817675
Product Type:
Journals & Magazines
Date of Current Version :
06 August 2002
Issue Date :
Dec 1999
Sponsored by :
IEEE Robotics and Automation Society

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