A new method for the complete workspace representation of six-degree-of-freedom parallel manipulators*

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.