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An optimization approach to the computation of the boundaries of different dextrous workspaces of parallel manipulators is presented. A specific dextrous workspace is the region in space in which, at each position of the working point, a manipulator can control the orientation of its upper working platform through a specified range of orientation angles. Here the dextrous workspace is determined from the intersection of suitably chosen fixed orientation workspaces, which are found by application of a constrained optimization algorithm. The procedure is simple and has the considerable advantage that it may easily be automated. The method is illustrated by its application to both a planar and spatial Gough–Stewart platform.
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Plessis et al. (2001) studied this question.
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