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

Wesley Au; Hoam Chung; Chao Chen

doi:10.6567/IFToMM.14TH.WC.OS2.025

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

Wesley Au, Hoam Chung, Chao Chen

Mechanical & Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

1 Citation (Scopus)

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 language	English
Title of host publication	The Fourteenth International Federation for the Promotion of Mechanism and Machine Science World Congress (2015 IFToMM World Congress)
Editors	Cheng-Kuo Sung, Jen-Yuan (James) Chang
Place of Publication	Taipei Taiwan
Publisher	National Taiwan University
Number of pages	9
ISBN (Electronic)	9789860460988
ISBN (Print)	9789860460988
DOIs	https://doi.org/10.6567/IFToMM.14TH.WC.OS2.025
Publication status	Published - 2015
Event	International Federation for the Promotion of Mechanism and Machine Science World Congress 2015 - Taipei international Convention Center, Taipei, Taiwan Duration: 25 Oct 2015 → 30 Oct 2015 Conference number: 14th http://www.iftomm2015.tw/

Conference

Conference	International Federation for the Promotion of Mechanism and Machine Science World Congress 2015
Abbreviated title	IFToMM 2015
Country/Territory	Taiwan
City	Taipei
Period	25/10/15 → 30/10/15
Internet address	http://www.iftomm2015.tw/

Keywords

Kinematics
Path planning
Singularity
Stewart platform

Access to Document

10.6567/IFToMM.14TH.WC.OS2.025

Cite this

@inproceedings{b20585d68ed44e9c909e524c689bd5b9,

title = "Path planning of the 6-3 Stewart-Gough platform in enhanced workspace",

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",

keywords = "Kinematics, Path planning, Singularity, Stewart platform",

author = "Wesley Au and Hoam Chung and Chao Chen",

year = "2015",

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language = "English",

isbn = "9789860460988",

editor = "Cheng-Kuo Sung and Chang, {Jen-Yuan (James)}",

booktitle = "The Fourteenth International Federation for the Promotion of Mechanism and Machine Science World Congress (2015 IFToMM World Congress)",

publisher = "National Taiwan University",

note = "International Federation for the Promotion of Mechanism and Machine Science World Congress 2015, IFToMM 2015 ; Conference date: 25-10-2015 Through 30-10-2015",

url = "http://www.iftomm2015.tw/",

}

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 Chang (eds), The Fourteenth International Federation for the Promotion of Mechanism and Machine Science World Congress (2015 IFToMM World Congress). National Taiwan University, Taipei Taiwan, International Federation for the Promotion of Mechanism and Machine Science World Congress 2015, Taipei, Taiwan, 25/10/15. https://doi.org/10.6567/IFToMM.14TH.WC.OS2.025

Path planning of the 6-3 Stewart-Gough platform in enhanced workspace. / Au, Wesley; Chung, Hoam ; Chen, Chao.
The Fourteenth International Federation for the Promotion of Mechanism and Machine Science World Congress (2015 IFToMM World Congress). ed. / Cheng-Kuo Sung; Jen-Yuan (James) Chang. Taipei Taiwan: National Taiwan University, 2015.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

TY - GEN

T1 - Path planning of the 6-3 Stewart-Gough platform in enhanced workspace

AU - Au, Wesley

AU - Chung, Hoam

AU - Chen, Chao

N1 - Conference code: 14th

PY - 2015

Y1 - 2015

N2 - 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

AB - 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

KW - Kinematics

KW - Path planning

KW - Singularity

KW - Stewart platform

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DO - 10.6567/IFToMM.14TH.WC.OS2.025

M3 - Conference Paper

SN - 9789860460988

BT - The Fourteenth International Federation for the Promotion of Mechanism and Machine Science World Congress (2015 IFToMM World Congress)

A2 - Sung, Cheng-Kuo

A2 - Chang, Jen-Yuan (James)

PB - National Taiwan University

CY - Taipei Taiwan

T2 - International Federation for the Promotion of Mechanism and Machine Science World Congress 2015

Y2 - 25 October 2015 through 30 October 2015

ER -

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

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Keywords

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