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Structure and property of the singularity loci of the 3/6-Stewart-Gough platform for general orientations

Published online by Cambridge University Press:  31 October 2005

Z. Huang ,
Y. Cao ,
Y. W. Li  and
L. H. Chen
Z. Huang
Affiliation:
Robotics Research Center, Yanshan University, Qinghuangdao. 066004, Hebei (P. R. China)
Y. Cao
Affiliation:
Robotics Research Center, Yanshan University, Qinghuangdao. 066004, Hebei (P. R. China)
Y. W. Li
Affiliation:
Robotics Research Center, Yanshan University, Qinghuangdao. 066004, Hebei (P. R. China)
L. H. Chen
Affiliation:
Robotics Research Center, Yanshan University, Qinghuangdao. 066004, Hebei (P. R. China)
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Abstract

This paper focuses on the structure and property of the singularity loci of the 3/6-Stewart-Gough platform for general orientations. Based on the singularity kinematics principle, a planar singularity-equivalent-mechanism is proposed, by which the complicated singularity analysis of that parallel mechanism is transformed into a simpler position analysis of the planar mechanism. All the possible positions of the planar mechanism form the singularity loci of the 3/6-Stewart-Gough manipulator. The result shows that the singularity equation become quite simple moreover the structure and property of the singularity loci are also identified and explained. For the most general orientations of the typical 3/6-Stewart-Gough platform, the singularity locus equation is a special irresolvable polynomial expression of degree three, which in infinite parallel principal sections includes a parabola, four pairs of intersecting straight lines and infinity of hyperbolas. This result is beneficial to analysis of the similar issue of other Stewart-Gough manipulators.

Keywords

Parallel mechanismSpecial configurationKinematicsSingularity surfaceStewart-Gough platform
Type
Research Article
Information
Robotica , Volume 24 , Issue 1 , January 2006 , pp. 75 - 84
Copyright
2005 Cambridge University Press

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