| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 91 === This thesis studies the orienting workspace of Stewart-Gough type parallel manipulators. The orienting workspace is defined as the ranges of three Euler’s angles when the reference point on the platform is fixed at a particular point. These ranges allow us to measure the dexterity of a parallel manipulators. Currently we still do not have an efficient method to determine this subspace. In this thesis an efficient method is proposed, using coordinate transformations, inverse kinematics and numerical methods to evaluate the orienting workspace of parallel manipulators. Except for the process to obtain initial points (which involve solving six nonlinear equations), the proposed method can obtain the volume of orienting workspace by simply solving quadratic equations. Further, with some minor modifications, the method is applicable to other types of parallel manipulators. The orienting workspace of parallel manipulators with RRR-S chains is also inves investigated.
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