Determination of the Reachable Workspace of 6-3 Stewart Platform Mechanism.

In this paper, a novel geometrical methodology is introduced for determining the reachable workspace of 6-3 Stewart Platform Mechanism. The reachable workspace is one of the significant characteristic in determining the feasibility of utilizing SPM as a machine tool structure. The proposed method based on a geometrical approach is rather straightforward to evaluate the reachable workspace. Basically, it is based on determining attainable locations of three vertices for all possible leg configurations as all constraints dealing with legs and joints are taken into consideration. [ABSTRACT FROM AUTHOR]