Experimental Validation of the Position and Orientation Workspaces of the Stewart–Gough Platform
摘要
This work presents experimental validation of the position and orientation workspaces of the Stewart–Gough platform (SGP) considering the extensions of the prismatic actuators only. Although it is known that the workspace volume of parallel mechanisms is limited by several other factors, such as link collisions and gain-type singularities, essentially the workspace of SGPs is observed to be determined principally by the range of motion of the actuated and un-actuated joints.