{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,9,12]],"date-time":"2023-09-12T16:28:48Z","timestamp":1694536128602},"reference-count":32,"publisher":"Cambridge University Press (CUP)","issue":"8","license":[{"start":{"date-parts":[[2013,6,12]],"date-time":"2013-06-12T00:00:00Z","timestamp":1370995200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2013,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper addresses the orientation-singularity analysis and the orientationability evaluation of a special class of the Stewart\u2013Gough parallel manipulators in which the moving and base platforms are two similar semi-symmetrical hexagons. Based on the half-angle transformation, an analytical polynomial of degree 13 that represents the orientation-singularity locus of this special class of parallel manipulators at a given position is derived. Graphical representations of the orientation-singularity locus of this class of manipulators are illustrated with examples to demonstrate the results. Based on the description of the orientation-singularity and nonsingular orientation region of this class of parallel manipulators, a performance index, referred to as <jats:italic>orientationability<\/jats:italic>, which describes the orientation capability of this class of manipulators at a given position, is introduced. A discretization algorithm is proposed for computing the orientationability of the special class of parallel manipulators at a given position in the workspace. Moreover, the effects of the design parameters and position parameters on the orientationability are also investigated in detail. Based on the orientationability performance index, another performance index, referred to as <jats:italic>practical orientationability<\/jats:italic>, representing the practical orientation capability of the manipulators at a given position, is introduced. In this performance index, singularities, the limitations of active and passive joints and link interferences are all taken into consideration. Furthermore, the practical orientationability of the special class of parallel manipulators studied here is also analyzed over several plane sections of the position-workspace in detail.<\/jats:p>","DOI":"10.1017\/s0263574713000544","type":"journal-article","created":{"date-parts":[[2013,6,12]],"date-time":"2013-06-12T08:32:32Z","timestamp":1371025952000},"page":"1361-1372","source":"Crossref","is-referenced-by-count":3,"title":["Orientation-singularity analysis and orientationability evaluation of a special class of the Stewart\u2013Gough parallel manipulators"],"prefix":"10.1017","volume":"31","author":[{"given":"Yi","family":"Cao","sequence":"first","affiliation":[]},{"given":"Cl\u00e9ment","family":"Gosselin","sequence":"additional","affiliation":[]},{"given":"Hui","family":"Zhou","sequence":"additional","affiliation":[]},{"given":"Ping","family":"Ren","sequence":"additional","affiliation":[]},{"given":"Weixi","family":"Ji","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2013,6,12]]},"reference":[{"key":"S0263574713000544_ref30","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(03)00064-8"},{"key":"S0263574713000544_ref7","first-page":"338","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Merlet","year":"1992"},{"key":"S0263574713000544_ref4","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500216"},{"key":"S0263574713000544_ref5","first-page":"66","volume-title":"Technical report, INRIA","author":"Merlet","year":"1988"},{"key":"S0263574713000544_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2008.07.005"},{"key":"S0263574713000544_ref1","first-page":"392","volume-title":"Proceedings of the Automobile Division Institution of Mechanical Engineers","author":"Gough","year":"1956"},{"key":"S0263574713000544_ref23","first-page":"1808","volume-title":"Proceedings of the 2010 CCDC","author":"Cao","year":"2010"},{"key":"S0263574713000544_ref9","doi-asserted-by":"publisher","DOI":"10.1177\/02783640022066860"},{"key":"S0263574713000544_ref2","doi-asserted-by":"publisher","DOI":"10.1243\/PIME_PROC_1965_180_029_02"},{"key":"S0263574713000544_ref25","first-page":"2282","volume-title":"Proceedings of the 2010 CCDC","author":"Cao","year":"2010"},{"key":"S0263574713000544_ref29","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(01)00027-1"},{"key":"S0263574713000544_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2006.04.006"},{"key":"S0263574713000544_ref21","first-page":"367","volume-title":"Proceedings of the ASME DETC 2004\/MECH-57135","author":"Li","year":"2004"},{"key":"S0263574713000544_ref6","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800504"},{"key":"S0263574713000544_ref18","doi-asserted-by":"publisher","DOI":"10.1007\/s11012-006-9042-6"},{"key":"S0263574713000544_ref10","doi-asserted-by":"publisher","DOI":"10.1017\/S026357470100399X"},{"key":"S0263574713000544_ref11","volume-title":"Theory and Control of Parallel Robotic Mechanisms Manipulator","author":"Huang","year":"1997"},{"key":"S0263574713000544_ref12","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(98)00070-6"},{"key":"S0263574713000544_ref3","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258540"},{"key":"S0263574713000544_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/70.56660"},{"key":"S0263574713000544_ref14","first-page":"1881","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Huang","year":"2003"},{"key":"S0263574713000544_ref15","first-page":"5","volume-title":"Proceedings of the The Tenth IASTED on Robotics and Application 2004\/RA 447-017","author":"Cao","year":"2004"},{"key":"S0263574713000544_ref16","doi-asserted-by":"crossref","first-page":"675","DOI":"10.1177\/0278364905054655","article-title":"Property identification of the singularity loci of a class of Gough\u2013Stewart manipulators","volume":"24","author":"Cao","year":"2005","journal-title":"Int. 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