Journal of Aeronautics & Aerospace Engineering
Open Access

A novel geometrıcal method for the determınatıon of reachable workspace of a planar stewart platform

2^nd International Conference and Exhibition on Mechanical & Aerospace Engineering

September 08-10, 2014 Philadelphia, USA

Serdar Ay, Abdurrahman Hacioglu and O ErguvenVatandas

Scientific Tracks Abstracts: J Aeronaut Aerospace Eng

Abstract :

A geometric approach to the determination of reachable workspace of the planar Stewart platform mechanism (SPM) is presented. Reachable workspace is the region which consists of points that the coordinate system attached to the geometric center of moving platform reaches whatever orientation of moving platform in planar or spatial movements. In this study, the reachable workspace of a planar Stewart platform mechanism (SPM) is determined by utilizing a novel geometrical method. The reachable workspace obtained via the proposed geometric is compared with the constant orientation workspace via discretization method in accordance with attainable points. The proposed method is straightforward to present all attainable points of the planar mechanism for all possible leg configurations as all constraints dealing with legs and joints are taken into consideration.

Biography :

Serdar Ay is with the Aerospace Engineering Department, Turkish Air Force Academy, Yesilyurt-Istanbul, Turkey.