Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 30-49 |
| Number of pages | 20 |
| Journal | Mechanism and Machine Theory |
| Volume | 106 |
| DOIs | |
| Publication status | Published - 1 Dec 2016 |
Keywords
- Assembly modes
- Path planning
- Stewart-Gough platform
- Workspace analysis
Cite this
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Path planning and assembly mode-changes of 6-DOF Stewart-Gough-type parallel manipulators. / Au, Wesley; Chung, Hoam; Chen, Chao.
In: Mechanism and Machine Theory, Vol. 106, 01.12.2016, p. 30-49.Research output: Contribution to journal › Article › Research › peer-review
TY - JOUR
T1 - Path planning and assembly mode-changes of 6-DOF Stewart-Gough-type parallel manipulators
AU - Au, Wesley
AU - Chung, Hoam
AU - Chen, Chao
PY - 2016/12/1
Y1 - 2016/12/1
N2 - 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.
AB - 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.
KW - Assembly modes
KW - Path planning
KW - Stewart-Gough platform
KW - Workspace analysis
UR - http://www.scopus.com/inward/record.url?scp=84985916797&partnerID=8YFLogxK
U2 - 10.1016/j.mechmachtheory.2016.08.010
DO - 10.1016/j.mechmachtheory.2016.08.010
M3 - Article
VL - 106
SP - 30
EP - 49
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
SN - 0094-114X
ER -