Identifying Singularity-Free Spheres in the Position Workspace of Semi-regular Stewart Platform Manipulators

2017 ◽  
pp. 421-430 ◽  
Author(s):  
Anirban Nag ◽  
Vikranth Reddy ◽  
Saurav Agarwal ◽  
Sandipan Bandyopadhyay
Keyword(s):  
Stewart Platform

A Study on the Small-size Self-propelled Stewart-platform

2010 ◽  
Vol 130 (4) ◽  
pp. 660-667 ◽  
Author(s):  
Akihiro Torii ◽  
Masaaki Banno ◽  
Akiteru Ueda ◽  
Kae Doki
Keyword(s):  
Stewart Platform

scholarly journals Laser based micro texturing of freeform surfaces of implants using a Stewart platform

2021 ◽  
Author(s):  
K.E.Ch. Vidyasagar ◽  
Varun Aggarwal ◽  
Sasanka Sekhar Sinha ◽  
Subir Kumar Saha ◽  
Dinesh Kalyanasundaram
Keyword(s):  
Stewart Platform ◽  
Freeform Surfaces

Evaluation and Representation of the Theoretical Orientation Workspace of the Gough–Stewart Platform

2009 ◽  
Vol 1 (2) ◽  
Author(s):  
Qimi Jiang ◽  
Clément M. Gosselin
Keyword(s):  
Theoretical Orientation ◽  
Robotic Manipulators ◽  
Stewart Platform ◽  
Closed Region ◽  
Leg Length ◽  
Fixed Frame ◽  
Cartesian Space ◽  
Orientation Workspace

The evaluation and representation of the orientation workspace of robotic manipulators is a challenging task. This work focuses on the determination of the theoretical orientation workspace of the Gough–Stewart platform with given leg length ranges [ρimin,ρimax]. By use of the roll-pitch-yaw angles (ϕ,θ,ψ), the theoretical orientation workspace at a prescribed position P0 can be defined by up to 12 workspace surfaces. The defined orientation workspace is a closed region in the 3D orientation Cartesian space Oϕθψ. As all rotations R(x,ϕ), R(y,θ), and R(z,ψ) take place with respect to the fixed frame, any point of the defined orientation workspace provides a clear measure for the platform to, respectively, rotate in order around the (x,y,z) axes of the fixed frame. An algorithm is presented to compute the size (volume) of the theoretical orientation workspace and intersectional curves of the workspace surfaces. The defined theoretical orientation workspace can be applied to determine a singularity-free orientation workspace.

Research on the Forward Kinematics of Stewart Platform Using Memetic Algorithms

2012 ◽  
Vol 268-270 ◽  
pp. 1416-1421
Author(s):  
Yu Hui Zhang ◽  
Li Wen Guan ◽  
Li Ping Wang ◽  
Yong Zhi Hua
Keyword(s):  
Nonlinear Equations ◽  
Rapid Development ◽  
Memetic Algorithms ◽  
Stewart Platform ◽  
Global Optimum ◽  
General Purpose ◽  
Forward Kinematics ◽  
Systems Of Nonlinear Equations ◽  
Artificial Intelligence Technology ◽  
Difficult Issue

The forward kinematics analysis of parallel manipulator is a difficult issue, which has been studied by many researchers recently. In this paper, in order to solve the difficult issue, a new computing method with higher calculation accuracy, good operation steadiness and faster speed is mentioned. Firstly, the mathematical model of direct kinematics of the Stewart platform is founded, which is nonlinear equations. Secondly, with the rapid development of artificial intelligence technology, Memetic algorithms (MA) are applied to solve the systems of nonlinear equations more and more, replacing the traditional algorithms. MA is a kind of meta-heuristic algorithm combined genetic algorithms (GA) with local search at the end of iteration. Finally, the validity of this algorithm has been testified by simulating iteration operation. The numerical simulation shows that MA can surely and rapidly get global optimum solution and greatly improve convergence rate. Thereby, MA can be widely used as a general-purpose algorithm for solving the forward kinematics of parallel mechanism.

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