Analysis method for Stewart platform workspace based on two-dimension search

作者：Yang Yu^*; Huang Qi Tao; Han Jun Wei

来源：Journal of Shenyang University of Technology, 2010, 32(5): 531-535.

• Convergence
• Jacobians
• Newton-Raphson
• Parallel mechanisms
• Reachable workspace
• Stewart platforms
• Two-dimension
• Workspace

To decrease the calculation load using space search method in the Stewart platform workspace analysis procedure without reducing the analysis precision, a numerical method to calculate the Stewart platform single freedom motion range using Newton-Raphson method was proposed. The present method was used to study the Stewart platform workspace and realize the workspace analysis by two dimension search method. Compared with the traditional space search method, the two-dimension search method can reduce the search dimension and calculation load. The computation examples prove that the two-dimension search method can rapidly and accurately calculate the reachable workspace of Stewart platform in different postures. The two-dimension search method can be used to analyze other subspace of Stewart platform workspace. And this method can also be used for the workspace analysis of other parallel mechanisms.

• 出版日期2010