Path planning and assembly mode-changes of 6-DOF Stewart-Gough-type parallel manipulators

Au, W; Chung, H; Chen, C

Path planning and assembly mode-changes of 6-DOF Stewart-Gough-type parallel manipulators

Au, W

Chung, H Chen, C

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Publication Type:: Journal Article
Citation:: Mechanism and Machine Theory, 2016, 106 pp. 30 - 49
Issue Date:: 2016-12-01

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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.available	2020-05-25T19:20:07Z
dc.date.issued	2016-12-01	en_US
dc.identifier.citation	Mechanism and Machine Theory, 2016, 106 pp. 30 - 49	en_US
dc.identifier.issn	0094-114X	en_US
dc.identifier.uri	http://hdl.handle.net/10453/88540
dc.description.abstract	© 2016 International Federation for the Promotion of Mechanism and Machine Science The Stewart-Gough platform (SGP) is a six degree-of-freedom (DOF) parallel manipulator whose reachable workspace is complex due to its closed-loop configuration and six DOF outputs. As such, methods of path planning that involve storing the entire reachable workspace in memory at high resolutions are not feasible due to this six-dimensional workspace. In addition, complete path planning algorithms struggle in higher dimensional applications without significant customisations. As a result, many workspace analysis algorithms and path planning schemes use iterative techniques, particularly when tracking the manipulator's many direct kinematic solutions. The aim of this paper is to present the viability of singularity-free path planning in the Stewart-Gough platform's 6-dimensional workspace on modern-day computing systems by demonstrating its assembly mode-changing capability. The entire workspace volume is found using flood-fill algorithms with smooth and singularity-free trajectories generated within this known workspace. Workspace volume analysis was also performed with results comparable to other works.	en_US
dc.relation.ispartof	Mechanism and Machine Theory	en_US
dc.relation.isbasedon	10.1016/j.mechmachtheory.2016.08.010	en_US
dc.subject.classification	Design Practice & Management	en_US
dc.title	Path planning and assembly mode-changes of 6-DOF Stewart-Gough-type parallel manipulators	en_US
dc.type	Journal Article
utslib.citation.volume	106	en_US
utslib.for	0913 Mechanical Engineering	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
utslib.for	0910 Manufacturing 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	open_access
pubs.publication-status	Published	en_US
pubs.volume	106	en_US

Abstract:

© 2016 International Federation for the Promotion of Mechanism and Machine Science The Stewart-Gough platform (SGP) is a six degree-of-freedom (DOF) parallel manipulator whose reachable workspace is complex due to its closed-loop configuration and six DOF outputs. As such, methods of path planning that involve storing the entire reachable workspace in memory at high resolutions are not feasible due to this six-dimensional workspace. In addition, complete path planning algorithms struggle in higher dimensional applications without significant customisations. As a result, many workspace analysis algorithms and path planning schemes use iterative techniques, particularly when tracking the manipulator's many direct kinematic solutions. The aim of this paper is to present the viability of singularity-free path planning in the Stewart-Gough platform's 6-dimensional workspace on modern-day computing systems by demonstrating its assembly mode-changing capability. The entire workspace volume is found using flood-fill algorithms with smooth and singularity-free trajectories generated within this known workspace. Workspace volume analysis was also performed with results comparable to other works.

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http://hdl.handle.net/10453/88540