Singularity Kinematics Principle and Singularity Analysis of 6-3 Stewart Manipulators for Special Orientations
This paper presents a new principle and method of kinematics to analyze the singularity of Stewart-Gough parallel manipulators and addresses the property identification of the position-singularity loci of 6-3 Stewart-Gough manipulators for some special orientations. Based on the kinematics relationship of a rigid body, a necessary and sufficient condition that three velocities of three non-collinear points in a moving rigid body can determine a screw motion is addressed in this paper. With the above-mentioned condition, a symbolic analytical polynomial expression of three degree in the moving platform position parameters is derived, which represents the position-singularity locus of the 6-3 Stewart-Gough parallel manipulators for some special orientations, and property identification of the position -singularity loci of the 6-3 Stewart-Gough parallel manipulator for these special orientations are studied in detail as well. It is shown that position-singularity loci of the 6-3 Stewart-Gough parallel manipulator for these special orientations will be a plane and hyperholic paraboloid, even three intersecting planes.
Singularity Kinematics Principle Property Identification Stewart-Gough Parallel Manipulator Special Orientation
Hui Zhou Yi Cao Baokun Li Jinhu Yu Mengsi Liu
School of Mechanical Engineering, Jiangnan University, 1800 Lihu Avenue, Wuxi, Jiangsu 214122, China School of Mechanical Engineering, Anhui University of Science and Technology, Huainan, Anhui 232001,
国际会议
The 22nd China Control and Decision Conference(2010年中国控制与决策会议)
徐州
英文
4336-4341
2010-05-26（万方平台首次上网日期，不代表论文的发表时间）