%0 Journal Article %1 913.70002 %A Huang, Tian %A Wang, Jinsong %A Whitehouse, D.J. %D 1998 %J Sci. China, Ser. E %K boundary; capability; closed curve envelope family of orientation piecewise solution; spherical surfaces; twelve two-branch workspace %N 4 %P 393-403 %T Closed form solution to the position workspace of Stewart parallel manipulators. %V 41 %X A novel methodology is presented for the workspace analysis of Stewart parallel manipulators. The workspace is defined so that it is possible to construct a unified framework of both the position and orientation capabilities of the mobile platform. Given the orientation capability of the mobile platform, a piecewise closed solution to the workspace boundary is formulated. For the first time we show that the workspace boundary is in fact the cap of twelve envelope surfaces, each of which is generated by a family of spherical surfaces having the movable center located on a two-branch closed spherical curve. Two examples illustrate the effectiveness of the approach.

@article{913.70002, abstract = {A novel methodology is presented for the workspace analysis of Stewart parallel manipulators. The workspace is defined so that it is possible to construct a unified framework of both the position and orientation capabilities of the mobile platform. Given the orientation capability of the mobile platform, a piecewise closed solution to the workspace boundary is formulated. For the first time we show that the workspace boundary is in fact the cap of twelve envelope surfaces, each of which is generated by a family of spherical surfaces having the movable center located on a two-branch closed spherical curve. Two examples illustrate the effectiveness of the approach. }, added-at = {2008-03-02T02:12:02.000+0100}, author = {Huang, Tian and Wang, Jinsong and Whitehouse, D.J.}, biburl = {https://www.bibsonomy.org/bibtex/2a118fe9cea40d4c106ab7eeb4957bf89/dmartins}, classmath = {*70B15 Mechanisms}, description = {robotica-bib}, interhash = {23c577c8aa2b76134fd8edd50f27ff26}, intrahash = {a118fe9cea40d4c106ab7eeb4957bf89}, journal = {Sci. China, Ser. E}, keywords = {boundary; capability; closed curve envelope family of orientation piecewise solution; spherical surfaces; twelve two-branch workspace}, language = {English}, number = 4, pages = {393-403}, timestamp = {2008-03-02T02:13:11.000+0100}, title = {Closed form solution to the position workspace of {Stewart} parallel manipulators. }, volume = 41, year = 1998 }