Analysis of the Singularities Influence on the Forward Kinematics Solution and the Geometry of the Workspace of the Gough-Stewart Platform

The article considers the problem of analyzing the influence of singularities on the forward kinematics of the 3/6 Gough - Stewart platform. A numerical algorithm for solving the forward kinematics of platform based on deterministic optimization methods and interval analysis has been developed. An analysis of the change in the number of forward kinematics solutions near the singularity is performed. An algorithm has been synthesized that makes it possible to determine a singularity-free workspace for given ranges of change in platform orientation angles. An analysis of the change in the volume of the workspace depending on the range of change in the angles of the platform orientation was carried out. The simulation was performed using parallel computing and the procedure for exporting 3D models of the platform positions and workspace to the STL model. The results of mathematical modeling are presented.