Closed Form Solution to the Orientation Workspace of Stewart Parallel Manipulators

  • T. Huang
  • J. S. Wang
  • C. M. Gosselin
  • D. J. Whitehouse
Conference paper
Part of the Advanced Manufacturing book series (ADVMANUF)


A novel methodology to formulate the closed form solution to the orientation workspace of Stewart parallel manipulators is presented in this paper. A factitious four bar spatial linkage model having two degrees of freedom is employed to formulate the closed solution to the orientation workspace boundary. In this model, all the mechanical constraints are considered which include the strut length and the passive joint limitations. Several examples are given to illustrate the effectiveness of this approach.


Parallel manipulators Orientation workspace Dexterity 


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Copyright information

© Springer-Verlag London Limited 1999

Authors and Affiliations

  • T. Huang
    • 1
  • J. S. Wang
    • 2
  • C. M. Gosselin
    • 3
  • D. J. Whitehouse
    • 4
  1. 1.School of Mechanical EngineeringTianjin UniversityTianjinChina
  2. 2.School of Mechanical EngineeringTsinghua UniversityBeijingChina
  3. 3.Departement de Genie MecaniqueUniversite LavalCanada
  4. 4.School of EngineeringUniversity of WarwickCoventryUK

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