Volume 30 Issue 4
Jul.  2008
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LI Bao-kun, CAO Yi, HUANG Zhen, ZHANG Wen-xiang. Orientation Workspace Analysis of Stewart Platform Based on Unit Quaternion[J]. ROBOT, 2008, 30(4): 353-358.
Citation: LI Bao-kun, CAO Yi, HUANG Zhen, ZHANG Wen-xiang. Orientation Workspace Analysis of Stewart Platform Based on Unit Quaternion[J]. ROBOT, 2008, 30(4): 353-358.
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Orientation Workspace Analysis of Stewart Platform Based on Unit Quaternion

  • 1.

    School of Mechanical Engineering, Anhui University of Science and Technology, Huainan 232001, China

  • 2.

    School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China

  • 3.

    Robotics Research Center, Yanshan University, Qinhuangdao 066004, China

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  • Received Date: October 25, 2007
  • Published Date: July 14, 2008
    Graphical Abstract
    • Abstract
  • Unit quaternion is used to represent the orientation of rigid body,orientation-singularity expression of the Stewart platform at a given position is deduced,and the singularities caused by Euler angles are avoided.The concept and algorithm for nonsingular orientation-workspace of the platform at a certain position are proposed.The minimum inscribed sphere of the boundary surface of nonsingular orientation-workspace is represented as the practical orientation-workspace,and the sphere radius is used as the performance index of the platform's practical orientation-capability at the given position.Specific structural parameters of the platform are given,and the nonsingular orientation-workspace of the platform at a certain position is described.Furthermore,the practical orientation-capability changing with the variation of positions in the position-workspace of "initial orientation" is described.
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    • References (17)
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