{"title":"六自由度并联机器人完全工作空间表示的一种新方法*","authors":"Zhaoran. Meng, Jianhui. Bi, Huafeng Ding","doi":"10.1109/ROBIO55434.2022.10011880","DOIUrl":null,"url":null,"abstract":"This paper presents a new representation method to illustrate the six-dimensional (6-D) complete workspace of six-degree-of-freedom (6-DOF) parallel manipulators. Taking a typical Steward parallel manipulator as an object. First, the inverse position model of the manipulator is derived. Second, the position workspace and rotation ability of the Steward parallel manipulator are analyzed. Then, a new method to represent the complete workspace of 6-DOF parallel manipulators is presented. At last, based on the new method, a visible six-dimensional workspace of the Steward platform is obtained. This paper provides a novel approach for the complete workspace analysis of 6-DOF parallel manipulators.","PeriodicalId":151112,"journal":{"name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A new method for the complete workspace representation of six-degree-of-freedom parallel manipulators*\",\"authors\":\"Zhaoran. Meng, Jianhui. Bi, Huafeng Ding\",\"doi\":\"10.1109/ROBIO55434.2022.10011880\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a new representation method to illustrate the six-dimensional (6-D) complete workspace of six-degree-of-freedom (6-DOF) parallel manipulators. Taking a typical Steward parallel manipulator as an object. First, the inverse position model of the manipulator is derived. Second, the position workspace and rotation ability of the Steward parallel manipulator are analyzed. Then, a new method to represent the complete workspace of 6-DOF parallel manipulators is presented. At last, based on the new method, a visible six-dimensional workspace of the Steward platform is obtained. This paper provides a novel approach for the complete workspace analysis of 6-DOF parallel manipulators.\",\"PeriodicalId\":151112,\"journal\":{\"name\":\"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":\"7 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-12-05\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO55434.2022.10011880\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO55434.2022.10011880","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A new method for the complete workspace representation of six-degree-of-freedom parallel manipulators*
This paper presents a new representation method to illustrate the six-dimensional (6-D) complete workspace of six-degree-of-freedom (6-DOF) parallel manipulators. Taking a typical Steward parallel manipulator as an object. First, the inverse position model of the manipulator is derived. Second, the position workspace and rotation ability of the Steward parallel manipulator are analyzed. Then, a new method to represent the complete workspace of 6-DOF parallel manipulators is presented. At last, based on the new method, a visible six-dimensional workspace of the Steward platform is obtained. This paper provides a novel approach for the complete workspace analysis of 6-DOF parallel manipulators.
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