A novel numerical approach for workspace determination of parallel mechanisms

作者：Zhou, Yiqun; Niu, Junchuan^*; Liu, Zhihui; Zhang, Fuliang

来源：Journal of Mechanical Science and Technology, 2017, 31(6): 3005-3015.

DOI：10.1007/s12206-017-0544-z

• Numerical approach
• Workspace
• Determination
• Parallel mechanism
• Stewart platform

In this paper, a novel numerical approach is proposed for workspace determination of parallel mechanisms. Compared with the classical numerical approaches, this presented approach discretizes both location and orientation of the mechanism simultaneously, not only one of the two. This technique makes the presented numerical approach applicable in determining almost all types of workspaces, while traditional numerical approaches are only applicable in determining the constant orientation workspace and orientation workspace. The presented approach and its steps to determine the inclusive orientation workspace and total orientation workspace are described in detail. A lower-mobility parallel mechanism and a six-degrees-of-freedom Stewart platform are set as examples, the workspaces of these mechanisms are estimated and visualized by the proposed numerical approach. Furthermore, the efficiency of the presented approach is discussed. The examples show that the presented approach is applicable in determining the inclusive orientation workspace and total orientation workspace of parallel mechanisms with high efficiency.

• 出版日期2017-6
• 单位山东大学