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Determination of the largest collision-free and singularity-free workspaces for spatially isotropic Stewart platforms.

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Title: Determination of the largest collision-free and singularity-free workspaces for spatially isotropic Stewart platforms.
Authors: Ding, Xinbing1,2 (AUTHOR) xinbingding0@gmail.com
Source: International Journal of Advanced Manufacturing Technology. Dec2024, Vol. 135 Issue 11, p5213-5234. 22p.
Subjects: Spherical coordinates, Quaternions, Rotational motion, Spheres, Algorithms
Abstract: Based on the same direction vectors of the six links that can achieve spatial isotropy, a lot of spatially isotropic Stewart platforms can be designed, which means some physical parameters do not affect the Cartesian stiffness. However, these physical parameters will affect the collision-free and the singularity-free workspace of the spatially isotropic Stewart platform. In order to find the combinations of the physical parameters that do not affect the Cartesian stiffness matrix but can determine the largest collision-free and singularity-free workspace, this paper proposes several algorithms to optimise the spatially isotropic Stewart platforms based on the position of the TCP expressed in spherical coordinates and the orientation of the moving platform expressed by a unit quaternion with angle-axis. By this way, the symmetric constant-position workspace and constant-orientation workspace are dependent only on the rotation angle in the angle-axis representation and the sphere radius, respectively. At the same time, the singularity locus and collision-free workspace can be clearly illustrated and optimised. [ABSTRACT FROM AUTHOR]
Copyright of International Journal of Advanced Manufacturing Technology is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: Determination of the largest collision-free and singularity-free workspaces for spatially isotropic Stewart platforms.
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  Data: <searchLink fieldCode="AR" term="%22Ding%2C+Xinbing%22">Ding, Xinbing</searchLink><relatesTo>1,2</relatesTo> (AUTHOR)<i> xinbingding0@gmail.com</i>
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  Data: Based on the same direction vectors of the six links that can achieve spatial isotropy, a lot of spatially isotropic Stewart platforms can be designed, which means some physical parameters do not affect the Cartesian stiffness. However, these physical parameters will affect the collision-free and the singularity-free workspace of the spatially isotropic Stewart platform. In order to find the combinations of the physical parameters that do not affect the Cartesian stiffness matrix but can determine the largest collision-free and singularity-free workspace, this paper proposes several algorithms to optimise the spatially isotropic Stewart platforms based on the position of the TCP expressed in spherical coordinates and the orientation of the moving platform expressed by a unit quaternion with angle-axis. By this way, the symmetric constant-position workspace and constant-orientation workspace are dependent only on the rotation angle in the angle-axis representation and the sphere radius, respectively. At the same time, the singularity locus and collision-free workspace can be clearly illustrated and optimised. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
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  Data: <i>Copyright of International Journal of Advanced Manufacturing Technology is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1007/s00170-024-14691-5
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        Text: English
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      – SubjectFull: Rotational motion
        Type: general
      – SubjectFull: Spheres
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      – SubjectFull: Algorithms
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      – TitleFull: Determination of the largest collision-free and singularity-free workspaces for spatially isotropic Stewart platforms.
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              Text: Dec2024
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