This paper presents a new discretization method for the computation of the orientation workspace of 6-rDOF parallel manipulators, defined as the set of all attainable orientations of the mobile platform about a fixed point. The method is based on the use of a modified set of Euler angles and a particular representation of the orientation workspace. In addition, a direct method is suggested for the computation of the projected orientation workspace, defined as the set of all possible directions of the approach vector of the mobile platform. Alternative ways of computing these two types of workspaces are also discussed with typical examples.

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