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Six-DOF parallel manipulators with maximal singularity-free joint space or workspace

Published online by Cambridge University Press:  07 August 2013

K. Y. Tsai ,
J. C. Lin  and
Yiting Lo
K. Y. Tsai*
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei, Taiwan 10672, Republic of China
J. C. Lin
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei, Taiwan 10672, Republic of China
Yiting Lo
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei, Taiwan 10672, Republic of China
*
*Corresponding author. E-mail: kytsai@mail.ntust.edu.tw
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Summary

Singularity-free workspace is a very important criterion for the design of manipulators, especially for parallel manipulators which are well known for their limited workspace and complex singularities. This paper studies geometric parameters and dexterity measures that affect the size of a singularity-free joint space and proposes methods for the development of 6-DOF Stewart–Gough parallel manipulators that have better singularity-free joint space. With a local dexterity measure as the objective function, a systematic method is employed to search for the design with a maximal singularity-free joint space. The related workspaces are also investigated. It is shown that the workspace is not proportional to the size of the joint space and that manipulators with a larger singularity-free workspace usually have relatively poor dexterity.

Keywords

6-DOF parallel manipulatorsMaximalSingularityJoint spaceOrientationWorkspace
Type
Articles
Information
Robotica , Volume 32 , Issue 3 , May 2014 , pp. 401 - 411
Copyright
Copyright © Cambridge University Press 2013 

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