Abstract
A novel methodology is presented for the workspace analysis of Stewart parallel manipulators. The workspace is defined that enables a description to be made in a unified framework of both the position and orientation capabilities of the mobile platform. Given the orientation capability of the mobile platform, the piecewise closed solution to the workspace boundary is formulated. It is indicated for the first time that the workspace boundary is in fact the cap of twelve envelope surfaces, each of which is generated by a family of spherical surfaces having the movable center located on a two-branch closed spherical curve. Two examples are given to illustrate the effectiveness of this approach.
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