Pii: S0094-114x(00)00032-x
نویسندگان
چکیده
This paper presents a new discretization method for the computation of the orientation workspace of 6DOF parallel manipulators, de®ned as the set of all attainable orientations of the mobile platform about a ®xed point. The method is based on the use of a modi®ed set of Euler angles and a particular representation of the orientation workspace. In addition, the projected orientation workspace is introduced for use in 5-axis applications, de®ned as the set of possible directions of the approach vector of the mobile platform. Alternative ways of computing these two types of workspaces are also discussed. Ó 2000 Elsevier Science Ltd. All rights reserved.
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