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| MANIPULABILITY ANALYSIS AND DEEINITION OF 6-SPS STEWART ROBOT |
| RAO Qing, BAI Shixian |
| Beijing University of Technology |
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Abstract In accordance with the character of parallel robt manipulator,the concept of manipulability areused in this paper. Go a step further,the position manipulalibity and orientation manipulalibity are put for-ward.By direct derivation for position inverse sollutiOn,the formula of position and orientation manipulability of 6-SPS Stewart robot are established,which provide a new law for the parallel robot kinematic analysis.
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Received: 27 October 1993
Published: 15 November 1994
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