Orientation workspace of fully parallel mechanisms.
Eur. J. Mech., A, 13 (4):
541-553 (1994)Аннотация
An algorithm for the determination of the orientation workspace as
the complement to the positioning workspace of Stewart platform-type
parallel mechanisms is presented. The orientation workspace is defined
as the set of orientations of the top platform relative to the base,
for a given position of a point of the top platform, and is shown
to be represented and visualized by an inverted hollow pyramid called
the orientation pyramid. The evaluation of the size of the orientation
workspace as the sum of the areas of all the facets of the pyramid
allows the comparison between different designs of Stewart platform
like mechanisms. It is shown that the 3-3 platform has the advantage
of maintaining a relatively larger size of the orientation workspace
over most of its position workspace, whereas the orientation workspaces
of the INRIA and the Fichter platforms are very sensitive to the
variation of the position of their top platforms.
Описание
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