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.

本数据集为论文《Antonov等人（2022），Proc Inst Mech Eng, Part C: J Mech Eng Sci》（即《Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science》）的配套数据集，该论文针对一款搭载圆形导轨的6自由度（6-DOF）六足型并联操作手的工作空间与性能表现开展分析；该研究主题此前已在两篇前期文献doi.org/10.3390/robotics10010031与doi.org/10.1007/978-3-030-75271-2_2中得到探讨。

本数据集包含MATLAB函数`workspace.m`与`performance.m`，以及数据文件`R0.mat`和`Rz10.mat`。

### 函数说明
1. `workspace.m`：用于计算并绘制定姿态工作空间。
2. `performance.m`：基于`workspace.m`生成的工作空间，计算条件指标。
所有函数均可通过「编辑器」（Editor）选项卡中的「运行」（Run）或「运行并前进」（Run and Advance）命令执行。

### 数据说明
`R0.mat`与`Rz10.mat`包含论文中所述两种平台姿态下的工作空间与性能数据，各字段说明如下：
- `kParams`：机构几何参数与约束条件；
- `R_P`：平台旋转矩阵；
- `p`：最终生成的工作空间点云；
- `p_int`：经六个区域相交后得到的工作空间点云（腿部干涉检查前）；
- `shp1`：定义工作空间的Alpha形状（alphaShape）对象，包含点云`p_int`中的全部点；
- `s`：与点云`p`中每个点对应的腿部单位方向向量；
- `de`：与点云`p`中每个点对应的摆臂旋转角度；
- `kInvNorm0`：普通雅可比矩阵的条件指标；
- `kInvNorm1`：经特征长度归一化后的雅可比矩阵的条件指标；
- `kInvNorm2`：采用三个平台点的速度归一化后的雅可比矩阵的条件指标。