Identification of the largest singularity-free cylinders in the translational workspace of the semi-regular Stewart platform manipulator

This paper presents a method to compute the largest possible cylindrical volume within the translational workspace of the semi-regular Stewart platform manipulator (SRSPM), which would be free of gain-type singularities. An analytical approach is used in finding the singularity-free regions rather than discretising the workspace into small singularity-free volumes. Comparison with another convex shape, i.e., the sphere, is performed to demonstrate the relative importance and usefulness of using the cylindrical geometry for finding the singularity-free spaces.