Orientation density and workspace analysis of a parallel stabilized platform testing system

An optimized workspace calculation method is proposed for parallel stabilized platform testing systems. This method refines the searched space progressively in order to approach the boundary of the workspace from both the inside and the outside of it. The orientation density is defined and used as an evaluation index to calculate the orientation workspace. The algorithm of the orientation density is embedded into the computer program of the workspace calculation. Then the workspaces of the testing system are solved. In the solution, the orientation density is regarded as a discrete function of the reachable workspace. As a result, the reachable workspace and the orientation workspace are represented in the same multidimensional graphs. Finally the useful workspace of the testing system is determined based on these results. This case study indicates that the calculation efficiency is enhanced by adopting the optimized method and the practicability of workspace study is improved by proposing the orientation density.