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

Au, W; Chung, H; Chen, C

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

Au, W

Chung, H Chen, C

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Publication Type:: Conference Proceeding
Citation:: 2015 IFToMM World Congress Proceedings, IFToMM 2015, 2015
Issue Date:: 2015-01-01

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Field	Value	Language
dc.contributor.author	Au, W https://orcid.org/0000-0003-3101-2322	en_US
dc.contributor.author	Chung, H	en_US
dc.contributor.author	Chen, C	en_US
dc.date.issued	2015-01-01	en_US
dc.identifier.citation	2015 IFToMM World Congress Proceedings, IFToMM 2015, 2015	en_US
dc.identifier.isbn	9789860460988	en_US
dc.identifier.uri	http://hdl.handle.net/10453/121259
dc.description.abstract	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.	en_US
dc.relation.ispartof	2015 IFToMM World Congress Proceedings, IFToMM 2015	en_US
dc.relation.isbasedon	10.6567/IFToMM.14TH.WC.OS2.025	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.title	Path planning of the 6-3 Stewart-Gough platform in enhanced workspace	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access	*
pubs.publication-status	Published	en_US

Abstract:

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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http://hdl.handle.net/10453/121259