Path planning of the 6-3 Stewart-Gough platform in enhanced workspace

Publication Type:
Conference Proceeding
Citation:
2015 IFToMM World Congress Proceedings, IFToMM 2015, 2015
Issue Date:
2015-01-01
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The Stewart-Gough platform is a six degree-of-freedom parallel mechanism whose reachable workspace is complex due to its closed-loop configuration. Parallel singularities pose a very serious problem for this mechanism and often constrains the overall reachable workspace to a very small operational area. This paper proposes a generalised path planning algorithm for general Stewart-Gough platforms where the full 6-DOF capability of this mechanism can be utilised to move anywhere within its connected and reachable workspace whilst remaining singularity-free. The 6-3-configured Stewart-Gough platform is used to demonstrate the viability of this algorithm. With this mechanism exhibiting up to 16 direct kinematic solutions (assembly modes), using this algorithm, we observe that the 6-3 Stewart-Gough platform is actually capable of assembly-mode changes, as long as they are contained within the same aspect. This result shows evidence that the overall reachable workspace for this configuration of SGP is not as constrained as once assumed.
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