Property Identification of the Singularity Loci of the 6/6-SPS Stewart Manipulator by Using the Method of Z-Plane
The problem of identifying the property of singularity loci of 6/6-SPS Stewart manipulators is addressed. After constructing the Jacobian matrix of the 6/6-SPS Stewart manipulator, a cubic polynomial expression in the mobile platform position parameters, which represents the constant-orientation singularity locus of the manipulator, is derived.Graphical representations of the singularity locus of the manipulator for different orientations are illustrated with examples. Based on this analytical expression, a quadratic expression that represents the singularity locus of the manipulator in Z-plane is derived, and further the property of singularity loci of the manipulator in parallel Z-planes is identified. it shows that singularity loci of 6/6-SPS Stewart manipulators in parallel Z-planes are all quadratic expressions including infinite hyperbolas, four pairs of intersecting lines and a parabola.
Stewart Manipulator Singularity Locus Property Identification Singularity Classification Z-Plane
Yi Cao Weixi Ji Hui Zhou Baokun Li Xuanyao Wang
School of Mechanical Engineering, Southern Yangtze University Wuxi, Jiangsu 214122, China Department of Mechanical Engineering, Anhui University of Science and Technology Huainan, Anhui 2320
国际会议
杭州
英文
1002-1006
2006-10-12（万方平台首次上网日期，不代表论文的发表时间）