Working capability analysis of Stewart platforms

Working capability analysis of planar and spatial Stewart platforms with unilateral constraints on actuator length is carried out using numerical methods based on analytical criteria for the boundary of the accessible output set. Restrictions on achievable motion at singular configurations associated with points interior to the accessible output set are also analyzed. Since movement of the working point on a spatial Stewart platform occurs in three-dimensional space, the boundary of the accessible output set is a two-dimensional surface. Numerical methods used in this analysis map one-dimensional solution sets, permitting the boundary of the accessible output set to be characterized by a family of one dimensional generators. Motion control restrictions inside the accessible output set are similarly characterized by families of interior singular curves, and barriers to motion control across surfaces defined are analyzed.