Path planning of the 6-3 Stewart-Gough platform in enhanced workspace

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Abstract

The Stewart-Gough platform is a six degree-of-freedom parallel mechanism whose reachable workspace is complex due to its closed-loop configuration. Parallel singularities pose a very serious problem for this mechanism and often constrains the overall reachable workspace to a very small operational area. This paper proposes a generalised path planning algorithm for general Stewart-Gough platforms where the full 6 DOF capability of this mechanism can be utilised to move anywhere within its connected and reachable workspace whilst remaining singularity-free. The 6-3-configured Stewart-Gough platform is used to demonstrate the viability of this algorithm. With this mechanism exhibiting up to 16 direct kinematic solutions (assembly modes), using this algorithm, we observe that the 6-3 Stewart-Gough platform is actually capable of assembly-mode changes, as long as they are contained within the same aspect. This result shows evidence that the overall reachable workspace for this configuration of SGP is not as constrained as once assumed
Original languageEnglish
Title of host publicationThe Fourteenth International Federation for the Promotion of Mechanism and Machine Science World Congress (2015 IFToMM World Congress)
EditorsCheng-Kuo Sung, Jen-Yuan (James) Chang
Place of PublicationTaipei Taiwan
PublisherNational Taiwan University
Number of pages9
ISBN (Electronic)9789860460988
ISBN (Print)9789860460988
DOIs
Publication statusPublished - 2015
EventInternational Federation for the Promotion of Mechanism and Machine Science World Congress 2015 - Taipei international Convention Center, Taipei, Taiwan
Duration: 25 Oct 201530 Oct 2015
Conference number: 14th
http://www.iftomm2015.tw/

Conference

ConferenceInternational Federation for the Promotion of Mechanism and Machine Science World Congress 2015
Abbreviated titleIFToMM 2015
CountryTaiwan
CityTaipei
Period25/10/1530/10/15
Internet address

Keywords

  • Kinematics
  • Path planning
  • Singularity
  • Stewart platform

Cite this

Au, W., Chung, H., & Chen, C. (2015). Path planning of the 6-3 Stewart-Gough platform in enhanced workspace. In C-K. Sung, & J-Y. J. Chang (Eds.), The Fourteenth International Federation for the Promotion of Mechanism and Machine Science World Congress (2015 IFToMM World Congress) National Taiwan University. https://doi.org/10.6567/IFToMM.14TH.WC.OS2.025