Maximal Singularity-Free Total Orientation Workspace of the Gough–Stewart Platform

Abstract

The maximal singularity-free total orientation workspace is highly desirable in a context of design of parallel robots. In practice, this type of workspace is interesting because a parallel robot often works in a given range of orientations. In this work, an algorithm is presented to compute the maximal singularity-free total orientation workspace of the Gough–Stewart platform. In order to demonstrate the presented algorithm, an example is provided.