Workspace and Performance Analysis of a 6-DOF Hexapod-type Manipulator with a Circular Guide. MATLAB Functions and Data

This dataset complements the paper "Antonov et al. (2022), Proc Inst Mech Eng, Part C: J Mech Eng Sci," which analyzes workspace and performance of a 6-DOF hexapod-type parallel manipulator with a circular rail, studied earlier in works doi.org/10.3390/robotics10010031 and doi.org/10.1007/978-3-030-75271-2_2. The dataset comprises MATLAB functions "workspace.m" and "performance.m" and data files "R0.mat" and "Rz10.mat." Functions workspace.m calculates and plots a constant orientation workspace. performance.m calculates conditioning index over the workspace obtained in workspace.m. Each function can be run using "Run" or "Run and Advance" commands in the "Editor" tab. Data R0.mat and Rz10.mat contain the following workspace and performance data for two platform orientations presented in the paper: kParams - mechanism geometry and constraints; R_P - platform rotation matrix; p - point cloud of resulting workspace; p_int - point cloud of workspace, obtained after the intersection of six areas (before the leg interference check); shp1 - alphaShape object that defines workspace and includes points p_int; s - unit vectors along legs for each point in vector p; de - swinging arm rotational angles for each point in vector p; kInvNorm0 - conditioning index for ordinary Jacobian matrix; kInvNorm1 - conditioning index for Jacobian matrix normalized by characteristic length; kInvNorm2 - conditioning index for Jacobian matrix normalized using velocities of three platform points.