Six-Dimensional space expression of workspace of six-DoF parallel manipulators using hyper spherical coordinates (HSC) |
| |
| Authors: | Ali Mahmoodi Amir Sayadi |
| |
| Affiliation: | 1. Department of Mechanical and Aerospace Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iranalimahmoodi@srbiau.ac.ir;3. Department of Mechatronics, Karaj Branch, Islamic Azad University, Alborz, Iran |
| |
| Abstract: | A closed-form formulation for the workspace of N-Degrees-of-Freedom (DoF) parallel mechanisms is presented using least-square curve fitting. The concepts of multi-dimensional polynomial (MDP) and in hyper spherical coordinates (HSC) are introduced. The boundary of workspaces of those parallel linkages which are surfaces without voids and concavities can be well approximated by the MDPs in the HSC. First, the boundary points are obtained in HSC considering all physical constrains and probable singularities. Then, an MDP with proper order consisting of sine and cosine functions is fitted to those points. The presented method is general and applicable to all DoF. Three case studies of 2, 3, and 6-DoF mechanisms are investigated to demonstrate the effectiveness of the method. |
| |
| Keywords: | parallel manipulator Stewart platform hexapod workspace hyper spherical coordinates |
|
|
