| 203D3 |
|---|
| Workspace search of Parallel-link mechanisms |
| AUTHORS |
| Satoshi KOMINAMI, Yoshito TANAKA, Jyunko ISHII (Kitakyushu National College of Technology) |
| ABSTRACT |
| Stewart type of parallel-link mechanisms consists of a fixed base, a platform and six cylinders. The platform makes a movement of six degree-of-freedom by controlling the length of the cylinders, while the workspace varies in volume, shape, and position as the platform changes its orientation. This paper proposes an algorithm to search for the workspace of the parallel link mechanisms. We introduced the workspace search vector expressed in the spherical coordinates to calculate the workspace for platform orientations. The vector determines the workspace boundary regarding the geometry constraint of the mechanism. The workspace variations are demonstrated in terms of 2-D and 3-D plots for a prototype mechanisms. The workspace plots are created with OpenGL by computer implementation of the algorithm. To validate the proposed algorithm, 2-D plots of calculations were compared with those measured by position sensor. The test results are shown to have good agreement with the system simulation results presented. |
Back to Program
Time Table
Top of This Site
Annual Conference 2002