Singularity analysis of a 6/6 Stewart parallel manipulator using geometric algebra
The analysis of singularities in the workspace of parallel manipulators plays an important role in the designs of such mechanisms.This paper deals with the singularities of the 6/6-SPS(S denoting a spherical joint,P a prismatic pair)Stewart parallel manipulator based on geometric algebra.The moving platform and fixed platform of the Stewart parallel manipulator are dissimilar semi-symmetrical hexagons.First,the six line vectors along the six SPS limbs are represented using geometric algebra.Next an analytic singularity polynomial is proposed using an outer product calculation.Finally,with the singularity polynomial,all the singular conditions including the position-singularities and orientation-singularities can be drawn and analyzed.The numerical examples prove the effectiveness and computational efficiency of the geometric algebra method.In addition,the singularity analysis of the 6/6 Stewart parallel manipulator using the geometric algebra method has a clear geometric interpretation.
geometric algebra singularity analysis parallel manipulator
Huijing Yao Jiayi Ma Qiaohong Chen Xinxue Chai Qinchuan Li
Mechatronic Institute,Zhejiang Sci-Tech University,Hangzhou,Zhejiang Province 310018,P.R.of China School of Information,Zhejiang Sci-Tech University,Hangzhou,Zhejiang Province 310018,P.R.of China
国内会议
北京
英文
17-32
2018-08-02（万方平台首次上网日期，不代表论文的发表时间）